Yeah there's a whole dedicated webpage about that : https://www.av8n.com/physics/rotations.htm https://www.av8n.com/physics/rotations.htm > In this document,

Yeah there's a whole dedicated webpage about that : https://www.av8n.com/physics/rotations.htm https://www.av8n.com/physics/rotations.htm > In this document, we discuss rotations, including simple rotations in the plane but also including compound rotations around multiple axes in three or more dimensions. We briefly survey four ways of pictorially representing rotations: two vectors in the plane of rotation, triad before and after rotation, axis plus amount of rotation, and yaw/pitch/roll. These can (respectively) be formalized in terms of (respectively) Clifford algebra i.e. quaternions, matrices, Rodrigues vectors, and Euler angles.