Formula_22219

\[\begin{gathered}M_{i k}(\varphi, \theta, \psi)=g_{1}(\varphi) g_{2}(\theta) g_{1}(\psi), \\g_{1}(\varphi)=\left\|\begin{array}{ccc}\cos \varphi & -\sin \varphi & 0 \\\sin \varphi & \cos \varphi & 0 \\0 & 0 & 1\end{array}\right\|, \quad g_{2}(\theta)=\left\|\begin{array}{ccc}1 & 0 & 0 \\0 & \cos \theta & -\sin \theta \\0 & \sin \theta & \cos \theta\end{array}\right\| .\end{gathered}\]