{{cos(a),-sin(a),0},{sin(a),cos(a),0},{0,0,1}}*{{cos(b),0,sin(b)},{0,1,0},{-sin(b),0,cos(b)}}*{{1,0,0},{0,cos(c),-sin(c)},{0,sin(c),cos(c)}}*{{x},{y},{z}}

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