1. The problem statement, all variables and given/known data http://img99.imageshack.us/img99/5995/48760254.png [Broken] http://img824.imageshack.us/img824/1171/78357054.png [Broken] 2. Relevant equations 3. The attempt at a solution I don't understand how you can derive the elements of this matrix. A "normal" rotation matrix looks different. Can someone help me understand the elements of this matrix?