Rotate about z-axis by the angle theta.
![](https://www.weiy.city/wp-content/uploads/2021/06/image-1-881x1024.png)
Verification:
![](https://www.weiy.city/wp-content/uploads/2021/06/image-2-1024x563.jpeg)
So we can get the following conclusions about rotations about x-axis, y-axis and z-axis independently.
![](https://www.weiy.city/wp-content/uploads/2021/06/image-1024x465.jpeg)
![](https://www.weiy.city/wp-content/uploads/2021/06/image.png)
![](https://www.weiy.city/wp-content/uploads/2021/06/image-1.jpeg)
Rotate about z-axis by the angle theta.
Verification:
So we can get the following conclusions about rotations about x-axis, y-axis and z-axis independently.