Sorry for bumping an old thread.. i hope this saves a bit of someones time: Ry is wrong, it should be: 
cos(th) 0 sin(th)
0 1 0
-sin(th) 0 cos(th)

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rgds, Mitja

In reply to Re^2: Rotate a 3D vector by Anonymous Monk
in thread Rotate a 3D vector by true

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