3-Dimensional Rotation:

3-D rotation is not a straightforward extension of 2-D rotation and it is more complicated, as in this case it is essential to specify an axis of rotation. In 2-D, always the axis of rotation is perpendicular to the xy plane, that is the z-axis, while in 3-D the axis of rotation may have any spatial orientation. Let us look at rotation about the three principle axes (x, y, z) & then around an arbitrary axis. In this section rotation around z, x and y-axis have been explained in detail. After explaining this, rotation around an arbitrary axis has been dealt with.