How Can I Understand 3D Rotation Matrices Like 2D?

[likephysics]

I am having a hard time figuring out 3d rotation matrices expression.
After much search, I got 2D - http://www.siggraph.org/education/materials/HyperGraph/modeling/mod_tran/2drota.htm
With 2d,
x'=xcos t - ysin t
y'=xsin t + ycos t

and the matrix is :
[cos t -sin t]
[sin t cos t]

but where can I find a similar explanation for 3d? Can someone pls explain.

 

[tiny-tim]

Hi likephysics!

(have a theta: θ )

Does this help? … http://en.wikipedia.org/wiki/Euler_angles