Giving it some extra thought and reading again through the other responses I think your best bet is to follow BrowserUK's advice. Let me add that the angle between two planes is given by the angle between the normal vectors. See Lines and Planes for some basic examples. You can use the rotation matrices as described in the paper (the link you provided yourself) or look them up in Wikipedia or Mathworld.

It's a pity you don't describe what problem your working on. A physics problem? Computer graphics? etc.

In reply to Re^3: (OT) moving points from one plane to another by dHarry
in thread (OT) moving points from one plane to another by merrymonk

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