Find the combined transformation matrix for a rotation of an orthogonal coordinate system counterclockwise about the z-axis through an angle θ, followed by a counterclockwise rotation about the new y-axis through an angle φ.

My problem is getting the transformation matrices. I drew the transformation and can see the angles I am looking for, but my problem is choosing whether to use cos, sin, or -sin.

Question

Find the combined transformation matrix for a rotation of an orthogonal coordinate system counterclockwise about the z-axis through an angle θ, followed by a counterclockwise rotation about the new y-axis through an angle φ.

My problem is getting the transformation matrices. I drew the transformation and can see the angles I am looking for, but my problem is choosing whether to use cos, sin, or -sin.

amistre64 · Answer

just trying to see if i understand the informations .... what did you come up with?

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