In: Advanced Math
Suppose that you have a unit cube whose center is at (cx, cy, cz).
(a) Let us rotate it, along the direction of the x-axis, about its centre for angle θ. Derive the general matrix for doing this rotation.
(b) Suppose that we rotate it, centering at (cx, 0, 0), along the direction of the x-axis. Show the rotation matrix and explain why it is so simple.