We can use matrices to rotate points through space!
Written post on 2D rotations (jumps to demo) https://articulatedrobotics.xyz/tutorials/coordinate-transforms/rotation-matrices-2d#geogebra
Written post on 3D rotations (jumps to demo) https://articulatedrobotics.xyz/tutorials/coordinate-transforms/rotations-3d#geogebraanimation
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00:00 - Intro
00:27 - Deriving the 2D rotation matrix
02:02 - Properties of rotation matrix
04:21 - 3D Rotations
07:48 - Multiple rotations
10:45 - Outro