construct a rotation Matrix in two or three dimensions
(optional) Vector; axis of the rotation
The RotationMatrix(t) command returns the 2x2 rotation Matrix corresponding to the angle t, measured in radians.
The RotationMatrix(t,v) command returns the 3x3 rotation Matrix corresponding to the angle t, where the rotation axis is given by v. The direction of rotation is determined by using the right-hand rule with respect to v.
Rotation about the y-axis in three-dimensional space:
Rotation about an oblique vector in three-dimensional space:
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