RotationMatrix

RotationMatrix[θ] gives the 2D rotation matrix that rotates 2D vectors counterclockwise by θ radians.

RotationMatrix[θ,w] gives the 3D rotation matrix for a counterclockwise rotation around the 3D vector w.

RotationMatrix[{u,v}] gives the matrix that rotates the vector u to the direction of the vector v in any dimension.

RotationMatrix[θ,{u,v}] gives the matrix that rotates by θ radians in the plane spanned by u and v.

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