3D Rotation Problem
Ahhh nice, this is a 3D rotation of a point attached to a rotating frame problem. Let’s solve it cleanly
step by step so it actually makes sense 🔥
We are given:
Point in rotating frame
1
P = 5
The frame rotates with respect to the reference frame by:
90∘ about X-axis
45∘ about Y-axis
60∘ about Z-axis
So we apply rotation matrices in order:
Pref = Rx (90∘ ) Ry (45∘ ) Rz (60∘ ) P
1️⃣ Rotation Matrices
Rotation about X-axis (90°)
1 0 0 1 0 0
∘
Rx (90 ) = 0 cos 90 − sin 90 = 0 0 −1
0 sin 90 cos 90 0 1 0
Rotation about Y-axis (45°)
1 1
cos 45 0 sin 45 2
0 2
Ry (45∘ ) =
0 1 0 = 0 1 0
− sin 45 0 cos 45 − 12
0 1
2
Rotation about Z-axis (60°)
1 3
cos 60 − sin 60 0 2
− 2
0
∘
Rz (60 ) = sin 60 cos 60 0 = 3 1
0
2 2
0 0 1 0 0 1
2️⃣ Step-by-step Multiplication
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We multiply from right to left:
P ′ = Rz ⋅ P
1 3 1 1−5 3
2
− 2
0 1 2
(1) − 23 (5)
2
= 3
1
0 5 = 3
(1) + 12 (5)
= 3+5
2 2 2 2
0 0 1 7 7 7
Now apply Ry (45∘ )
P ′′ = Ry ⋅ P ′
After multiplication:
1 1−5 3
2
2
+ 12 ⋅ 7
⋅
′′ 3+5
P =
2
1 1−5 3
− 2
⋅ 2
+ 12 ⋅ 7
Finally apply Rx (90∘ )
1 0 0 x′′ x′′
′′
Pf inal = Rx ⋅ P = 0 0 −1 y ′′ = −z ′′
0 1 0 z ′′ y ′′
3️⃣ Numerical Approximation
Using
2 ≈ 1.414
3 ≈ 1.732
After simplifying:
3.3
Pf inal ≈ −7.65
3.3
✅ Final Answer
Coordinates of the point in the reference frame after rotation:
Pref ≈ (3.3, −7.65, 3.3)
🎯 Graphical Meaning (intuition)
First the point is spun around Z (like turning on a table)
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Then tilted around Y
Then flipped around X
So the point moves from the first quadrant to a position where Y becomes strongly negative, which
matches the result.
If you want, I can also show a shortcut using combined rotation matrix (single matrix multiplication)
— much faster for exams.
Ahhh this is a classic confusion in 3D rotations — everyone mixes up X, Y, Z axes at first 😄
Let’s lock this in your brain permanently.
🎯 First Rule: Axis = The one that DOESN’T change
When you rotate about an axis, the coordinate along that axis stays the same.
Rotation About Stays Same Plane of Rotation
X-axis X Y–Z plane
Y-axis Y X–Z plane
Z-axis Z X–Y plane
👉 Memory Trick:
“The axis you rotate about is the one you don’t disturb.”
🧠 Visual Memory Trick (Super Important)
Use your right hand ✋
Point your thumb in the positive axis direction.
Your fingers curl in the direction of positive rotation.
Axis How to Remember
X-axis Thumb → right, rotation is from Y toward Z
Y-axis Thumb → forward, rotation is from Z toward X
Z-axis Thumb → up, rotation is from X toward Y
So:
css
X rotation → Y becomes Z
Y rotation → Z becomes X
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Z rotation → X becomes Y
It’s a cycle 🔁
🔁 The XYZ Rotation Cycle (Golden Trick)
Just remember this circular order:
X→Y →Z→X
Now apply this rule:
Rotation about X affects Y and Z
Rotation about Y affects Z and X
Rotation about Z affects X and Y
📦 Matrix Pattern Shortcut (Exam Hack)
Each rotation matrix keeps one row & column simple:
🔵 X-axis Rotation
Only Y and Z change
1 0 0
Rx = 0 cos − sin
0 sin cos
Top row = [1 0 0] → X unchanged
🟢 Y-axis Rotation
Only X and Z change
cos 0 sin
Ry =
0 1 0
− sin 0 cos
Middle row = [0 1 0] → Y unchanged
🔴 Z-axis Rotation
Only X and Y change
cos − sin 0
Rz = sin cos 0
0 0 1
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Last row = [0 0 1] → Z unchanged
🧩 One-Line Memory Formula
“Rotate about one axis, the other two dance.” 💃🕺
🚀 Fastest Way to Recall in Exam
Ask yourself:
1. Which axis is the rod going through? → That coordinate stays same
2. The other two form the rotation plane
3. Cosines go on the diagonal, sines go off-diagonal with ± signs
If you want, I can give you a single diagram trick that makes XYZ rotations impossible to forget.
Nice one — this is a sequential 3D rotation problem. Let’s build the combined rotation matrix step by
step.
We are given rotations in this order:
1️⃣ 45 about Y-axis
∘
2️⃣ 120 about Z-axis
∘
3️⃣ 90 about X-axis
∘
When rotations are applied one after another to a point, the rightmost matrix acts first:
R = Rx (90∘ ) Rz (120∘ ) Ry (45∘ )
🔹 Step 1: Write Individual Rotation Matrices
Rotation about Y-axis (45°)
1 1
cos 45 0 sin 45 2
0 2
∘
Ry (45 ) =
0 1 0 =
0 1 0
− sin 45 0 cos 45 − 12
0 1
2
Rotation about Z-axis (120°)
cos 120 − sin 120 0
∘
Rz (120 ) = sin 120 cos 120 0
0 0 1
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1 3
cos 120 = − , sin 120 =
2 2
− 12 − 23
0
Rz (120∘ ) = 3
− 12 0
2
0 0 1
Rotation about X-axis (90°)
1 0 0 1 0 0
Rx (90∘ ) = 0 cos 90 − sin 90 = 0 0 −1
0 sin 90 cos 90 0 1 0
🔹 Step 2: Multiply R z ⋅ Ry
Rzy = Rz Ry
After multiplication:
−212
− 2
3
−212
3
Rzy =
2 2
− 12
3
2 2
− 12 1
0 2
🔹 Step 3: Multiply R x ⋅ Rzy
R = Rx Rzy
Final rotation matrix:
−212 − 23
−212
1
− 12
R=
2
0
3
2 2
− 12
3
2 2
🔢 Decimal Approximation (for intuition)
−0.354 −0.866 −0.354
R≈ 0.707 0 −0.707
0.612 −0.5 0.612
✅ Final Answer
The required combined rotation matrix is
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R = Rx (90∘ ) Rz (120∘ ) Ry (45∘ )
with the matrix shown above.
If you want, I can also show a shortcut trick to multiply rotations faster in exams (less writing, fewer
mistakes).
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