Chapter 01. Matrices, Vectors, and Vector Calculus Problem 01. The transformation matrix Solution The direction cosines can be determined using the definition of Equation (1.3). Therefore, the transformation matrix is
In this page, I will post the solution of the exercise problem in the Classical Dynamics of Particles and Systems (fifth edition), written by Thornton & Marion. You can buy the book via https://www.amazon.com/Classical-Dynamics-Particles-Systems-Thornton/dp/0534408966.