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Rotation by Euler angle #Mathematica #mechanics
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| Clear["Global`*"] | |
| Rx[\[Phi]_] := MatrixExp[-I \[Phi] {{0, 0, 0}, {0, 0, -I}, {0, I, 0}}] | |
| Ry[\[Phi]_] := MatrixExp[-I \[Phi] {{0, 0, I}, {0, 0, 0}, {-I, 0, 0}}] | |
| Rz[\[Phi]_] := MatrixExp[-I \[Phi] {{0, -I, 0}, {I, 0, 0}, {0, 0, 0}}] |
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