Rotation about x$-$axis with $$

Rot$(x,)=\left[\begin{array}{ccc}1& 0& 0\\ 0& C& -S\\ 0& S& C\end{array}\right]$

Rotation about $y-$axis with $$

Rot$(y,)=\left[\begin{array}{ccc}C& 0& S\\ 0& 1& 0\\ -S& 0& C\end{array}\right]$

Rotation about z$-$axis with $$

$P_{xyz}=R{P}_{\text{u}\text{v}\text{w}}$

Rot$(z,)=\left[\begin{array}{ccccccc}C& -S& 0& C& 0& 0& 1\end{array}\right]$

$0$

$0$

$S$