Euler Angles to Rotation Matrix

Obtain the matrix elements of the general rotation matrix in terms of the Euler angles. Eq. (4.46) , by performing the multiplication of the successive component rotations

Obtain the matrix elements of the general rotation matrix in terms of the Euler angles. Eq. (4.46) , by performing the multiplication of the successive component rotations matrices. Verify directly that the matrix elements obey the orthogonality conditions.

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