In this video we explore rotations about the x, y, and z axes, the properties of rotation matrices (determinant, transpose, inverse), and how to construct the general rotation matrix for an arbitrary axis using Rodrigues’ formula. Finally, we connect these ideas to the special orthogonal group SO(3), an important non-abelian group in mathematics and physics. 00:00 Rotation Matrices about the Coordinate Axes (Rx, Ry, Rz) 03:18 Rotation Matrix about an Arbitrary Axis R(n,theta) (Rodrigues’ Formula Derivation)