Euler Angle Formulas - Geometric Tools

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A common problem is to factor a rotation matrix as a product of rotations about the coordinate axes. The form of the factorization depends on the needs of the application and what ordering is speci ed. For example, one might want to factor a rotation as R= R x( x)R y( y)R z( z) for some angles x, y, and z. The ordering is xyz.

  Matrix