[ 1 0 0 0 c o s θ − s i n θ 0 s i n θ c o s θ ] {\displaystyle {\begin{bmatrix}1&0&0\ 0&cos\theta &-sin\theta \ 0&sin\theta &cos\theta \ \end{bmatrix}}} where θ {\displaystyle \theta } is the angle of rotation
where 
is the angle of rotation