When I first learned about rotation matrices they appeared quite
“magic”; if you squinted your eyes a bit it sort of made sense, and if
you did the math you could prove that the matrix does indeed perform the
rotation and that all the group properties are met, but none of that
explains where that form comes from, why it works.
In this blog post I will explore a way to derive the formula for
rotation matrices step by step. If you wish to follow along you need
only basic knowledge of linear algebra and trigonometry.
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