Hey, I was wondering if anyone knew or could help derive the formulas for rotations around an axis in cartesian coordinates. For example, let's say I have the point (x,y,z). I want to rotate the whole coordinate system around the x-axis. I can rotate it 90 degrees and switch the y and z axis. That one I just make the new coordinate (x,z,y). But what about rotations other than multiples of 90? Can anyone help me derive the formulas for those? Thanks

google for rotation matrices hit the first link you get given.

Just so you know, hit the "I'm Feeling Lucky" button; it should take you straight to the mathworld entry which has the appropriate matrices there for you.