Given angles (in degrees) to rotate around, $x$-, $y$-, $z$-axis how does one come up with the rotation matrix? For example if you have a point $p$ represented by a vector, how do you rotate it by multiplying it with a matrix $A$ so $p = Ap$.
A basic rotation (also called elemental rotation) is a rotation about one of the axes of a coordinate system. The following three basic rotation matrices rotate vectors by an angle $\theta$ about the $x$, $y$, or $z$ axis, in three dimensions:
I'm a little unclear. So you need a different rotation matrix for each one of the axis? Is there a way just to get one rotation matrix that covers the rotations done to each axis? Am I even reading this right, so $R_x(\theta)$ is the matrix used to perform the rotation about the $x$-axis for $\theta$ degrees?