Hi, I am trying to find some rotation matrices of $\displaystyle R^3$.

So for angle $\displaystyle \frac{\pi}{2}$ and axis $\displaystyle e_2$ I think the rotation matrix is

$\displaystyle R_{e_2} (\frac{\pi}{2}) = \left(\begin{matrix} cos(\frac{\pi}{2}) &0 &sin(\frac{\pi}{2})\\0 &1 &0\\-sin(\frac{\pi}{2}) &0 &cos(\frac{\pi}{2})\end{matrix}\right) = \left(\begin{matrix} 0 &0 &1\\0 &1 &0\\-1 &0 &0\end{matrix}\right)$

I just used the given rotation matrix in $\displaystyle R^3$ from the text with no real working out needed. Is this correct?

Need help on this one:

For the angle $\displaystyle \frac{\pi}{6}$ and axis containing the vector $\displaystyle (1,1,1)^t$.

Not sure how to use the $\displaystyle (1,1,1)^t$ in this question.

Thanks for any help.