Rotation matrix

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In linear algebra, a rotation matrix is a transformation matrix that is used to perform a rotation in Euclidean space. For example, using the convention below, the matrix R = [ cos ⁡ θ − sin ⁡ θ sin ⁡ θ cos ⁡ θ ] ⋅ {\displaystyle R={\begin{bmatrix}\cos \theta &-\sin \theta \\\sin \theta &\cos \theta \end{bmatrix}}\cdot } rotates points in the xy plane counterclockwise through an angle θ about the origin of a two-dimensional...

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