Check out:

http://mathworld.wolfram.com/RotationMatrix.html


"neb" <neb### [at] qismorg> wrote in message
news:web.3eddfbadb46be30fd47c4900@news.povray.org...
> Ok, im working on a rubix cube, and I have this problem:
>
> Say I take this object and rotate it by a vector <a,b,c>. Then, I rotate
> that entire thing by <x,y,z>.  What is my resulting rotation, were I to
> convert the "inner" and "outer" rotations into a single expression? It is
> unambiguosly not <a+x,b+y,c+z>, but what is it?
>
> A pointer to a built in funciton would be useful, but more useful would be
> the real algorithm.
>
> Thank you all in advance.
>

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