2-【o ROTATION MATRIx Look DOwN Z-tXIS FROM ABOVE 9 X=Xcos◆+suN4 s Y=-X5N中+Ycos Z Z Z A ROTATION MATRIX GIVEN VA iOUs Syn&ous Ra) PRoPERTIES oF ROTAT ION MATRICES )DET(R: R T 3EITHER 中s中 c 5中ce cs◆ OR c中 s中