3.2 Simple Frame Rotations

The simple frame rotations are those that rotate about the x, y and z-axes. We will be using Eq. (2.17) to construct the respective DCM. Herein, we adopt these shorthand notations: c or c( ) to mean cos( ), and likewise s or s( ) to mean sin( ). When there is no confusion, the parenthesless shorthand will be adopted. Also we use C _x( ) to denote a DCM that performs an angular rotation about the x-axis.

x-axis: the DCM that rotates an angle about u = [1 0 0 ] ? is

y-axis: the DCM that rotates an angle ? about u = [0 1 0] ? is

z-axis: the DCM that rotates an angle ? about u = [0 0 1] ? is