In[7]:=

Out[7]=

In[8]:=

Out[8]=

Simplify

y2
x2 (x + y)2

x2
x2 + y2 + z2

z2 x2

x2 x2 + y2 + 1 +
+

x2 + y2 + z2 x2 + y2
1
x2 +y2

y2
x2 (x + y)2

z2

(x2 + y2 + z2 )2

M = {{Sin[] Cos[], Sin[] Sin[], Cos[]},

{Cos[] Cos[], Cos[] Sin[], - Sin[]},
{- Sin[], Cos[], 0}}
{{Cos[] Sin[], Sin[] Sin[], Cos[]},
{Cos[] Cos[], Cos[] Sin[], - Sin[]}, {- Sin[], Cos[], 0}}

In[12]:=

MatrixForm[M]
Out[12]//MatrixForm=

Cos[] Sin[] Sin[] Sin[] Cos[]

Cos[] Cos[] Cos[] Sin[] - Sin[]
- Sin[]
Cos[]
0
In[10]:=

FullSimplify[Inverse[M]]
Out[10]=

{{Cos[] Sin[], Cos[] Cos[], - Sin[]},

{Sin[] Sin[], Cos[] Sin[], Cos[]}, {Cos[], - Sin[], 0}}

In[11]:=

MatrixForm[%]
Out[11]//MatrixForm=

Cos[] Sin[] Cos[] Cos[] - Sin[]

Sin[] Sin[] Cos[] Sin[] Cos[]
Cos[]
- Sin[]
0