R2(a)R2(a) cos a 0 -sin a( cos 0 sin a sin a0 cos a sin a o cos a 100 010|=I 00† R ( )R ( ) z z α α ⎟ ⎟ ⎟ ⎠ ⎞ ⎜ ⎜ ⎜ ⎝ ⎛ − = α α α α sin 0 cos 0 1 0 cos 0 sin ⎟ ⎟ ⎟ ⎠ ⎞ ⎜ ⎜ ⎜ ⎝ ⎛ − ⋅ α α α α sin 0 cos 0 1 0 cos 0 sin I 0 0 1 0 1 0 1 0 0 = ⎟ ⎟ ⎟ ⎠ ⎞ ⎜ ⎜ ⎜ ⎝ ⎛ =