For now, without proof you can get the direction cosine matrix (DCM) from the axis angle of rotation by
Testing some escape charachters for html category with a generator has an injective cogenerator" now escape ” with "
![$\displaystyle \left[ \begin{array}{ccc} A_{11} & A_{12} & A_{13} \ A_{21} & A... ...)) - e_1 sin(\alpha) & cos(\alpha) + e_3^2(1 - cos(\alpha)) \end{array} \right]$](http://images.physicslibrary.org/cache/objects/88/l2h/img1.png "$\displaystyle \left[ \begin{array}{ccc} A_{11} & A_{12} & A_{13} \ A_{21} & A... ...)) - e_1 sin(\alpha) & cos(\alpha) + e_3^2(1 - cos(\alpha)) \end{array} \right]$")