Up until now I didn't really have to deal with rotation matrices, but now, a question has come up:
Can I rotate a 3d vector in any way I'd like in 3d by only specifying two angles of rotation?
My intuition tells me it is possible: Any 3d vector can be defined using two angles and the vector's norm. Using two rotations about an axis, we can rotate the vector relative to the XY plane and then relative to the XZ/YZ plane to get another vector in any direction we want.
I found a few other intuitive explanations, but these aren't proofs. I have been told I'm wrong by a few people. Almost anywhere I look I see 3D rotations expressed in terms of 3 angles, but if I'm missing something, I can't for the life of me figure out what it is.