Issue No. 02 - February (1984 vol. 4)
Jay Fillmore , University of California at San Diego
Properly establishing the relation between linear algebra and geometry makes it easier to obtain the three-by-three orthogonal matrix that describes a specified rotation.
Jay Fillmore, "A Note on Rotation Matrices", IEEE Computer Graphics and Applications, vol. 4, no. , pp. 30-33, February 1984, doi:10.1109/MCG.1984.275935