I am having a hard time figuring out 3d rotation matrices expression.(adsbygoogle = window.adsbygoogle || []).push({});

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.

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# Rotation Matrices

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