{{cos(\theta), -sin(\theta), 0}, {sin(\theta), cos(\theta), 0}, {0, 0, 1}} *{{1, 0, 0}, {0, cos(\phi), -sin(\phi)}, {0, sin(\phi), cos(\phi)}} *{{cos(\psi), 0, sin(\psi)}, {0, 1, 0}, {-sin(\psi), 0, cos(\psi)}}