Originally Posted by

**keyboard** I would like to perform a rotational transformation for angles

that DO commute. I'm aware of the Euler (actually Cardanian)

transformation in which each successive rotation is about the

previously rotated coordinate axes. However, in the case of

a gimbaled mechanism, say a altitude-azimuth mount, what is

the appropriate rotation matrix ?

A related problem concerns the rotation matrix for a 3-D mechanism

in which the angles are measured relative to a fixed coordinate system,

say the earth.

Thanks,

John-