Cartesion Coordinate Rotations

[jordan]

Hey, I was wondering if anyone knew or could help derive the formulas for rotations around an axis in cartesian coordinates. For example, let's say I have the point (x,y,z). I want to rotate the whole coordinate system around the x-axis. I can rotate it 90 degrees and switch the y and z axis. That one I just make the new coordinate (x,z,y). But what about rotations other than multiples of 90? Can anyone help me derive the formulas for those? Thanks

[matt grime]

google for rotation matrices hit the first link you get given.

[Dave]

Just so you know, hit the "I'm Feeling Lucky" button; it should take you straight to the mathworld entry which has the appropriate matrices there for you.