EulerMatrix

EulerMatrix[{α,β,γ}] gives the Euler 3D rotation matrix formed by rotating by α around the current z axis, then by β around the current y axis, and then by γ around the current z axis. 

EulerMatrix[{α,β,γ},{a,b,c}] gives the Euler 3D rotation matrix corresponding, first rotating by α around the current a axis, then by β around the current b axis, and finally by γ around the current c axis.

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