In[39]:= (*Infinitesimal rotation matrices:*)

RdΘx = {{1, 0, 0}, {0, 1, - dΘx}, {0, dΘx, 1}};

RdΘy = {{1, 0, - dΘy}, {0, 1, 0}, {dΘy, 0, 1}};
RdΘz = {{1, - dΘz, 0}, {dΘz, 1, 0}, {0, 0, 1}};
RdΘx // MatrixForm
RdΘy // MatrixForm
RdΘz // MatrixForm
Out[42]//MatrixForm=
1 0 0
0 1 - dΘx
0 dΘx 1
Out[43]//MatrixForm=
1 0 - dΘy
0 1 0
dΘy 0 1
Out[44]//MatrixForm=

1 - dΘz 0
dΘz 1 0
0 0 1

In[48]:= Det[RdΘx]
Inverse[RdΘx]
1
IRdΘx = 1 + dΘx2 , 0, 0, {0, 1, dΘx}, {0, - dΘx, 1}
Det[RdΘx]
Transpose[RdΘx]
Out[48]=

1 + dΘx2
Out[49]=
1 dΘx dΘx 1
{1, 0, 0}, 0, , , 0, - , 
1 + dΘx2 1 + dΘx2 1 + dΘx2 1 + dΘx2
Out[50]=
1 dΘx dΘx 1
{1, 0, 0}, 0, , , 0, - , 
1 + dΘx2 1 + dΘx2 1 + dΘx2 1 + dΘx2
Out[51]=

{{1, 0, 0}, {0, 1, dΘx}, {0, - dΘx, 1}}

2 Rotations commutativity.nb

In[26]:= (*a) Closure: Is RdΘx.RdΘy, e.g., a rotation matrix,

that is, are the transpose and inverse equal?*)
RdΘx.RdΘy
RdΘxRdΘy = {{1, 0, - dΘy}, {0, 1, - dΘx}, {dΘy, dΘx, 1}}
Inverse[RdΘxRdΘy]
Transpose[RdΘxRdΘy]
Out[26]=

{{1, 0, - dΘy}, {- dΘx dΘy, 1, - dΘx}, {dΘy, dΘx, 1}}

Out[27]=

{{1, 0, - dΘy}, {0, 1, - dΘx}, {dΘy, dΘx, 1}}

Out[28]=

1 + dΘx2 dΘx dΘy dΘy

 ,- , ,
1 + dΘx2 + dΘy2 1 + dΘx2 + dΘy2 1 + dΘx2 + dΘy2
dΘx dΘy 1 + dΘy2 dΘx
- , , ,
2 2 2 2
1 + dΘx + dΘy 1 + dΘx + dΘy 1 + dΘx2 + dΘy2
dΘy dΘx 1
- ,- , 
1 + dΘx2 + dΘy2 1 + dΘx2 + dΘy2 1 + dΘx2 + dΘy2
Out[29]=

{{1, 0, dΘy}, {0, 1, dΘx}, {- dΘy, - dΘx, 1}}

(*d) Inverse*)
RdΘx.Inverse[RdΘx]
Inverse[RdΘx].RdΘx
1 dΘx2 1 dΘx2
{1, 0, 0}, 0, + , 0, 0, 0, + 
1 + dΘx2 1 + dΘx2 1 + dΘx2 1 + dΘx2

1 dΘx2 1 dΘx2
{1, 0, 0}, 0, + , 0, 0, 0, + 
1 + dΘx2 1 + dΘx2 1 + dΘx2 1 + dΘx2

(*e) Commutativity*)
RdΘx.RdΘy
RdΘy.RdΘx
{{1, 0, - dΘy}, {- dΘx dΘy, 1, - dΘx}, {dΘy, dΘx, 1}}

{{1, - dΘx dΘy, - dΘy}, {0, 1, - dΘx}, {dΘy, dΘx, 1}}

RdΘz.{cx, cy, cz}

{cx - cy dΘz, cy + cx dΘz, cz}