c = np.cos(x_axis_rotations)
s = np.sin(x_axis_rotations)
matrices = np.zeros((len(x_axis_rotations), 3, 3))
matrices[:, (0), (0)] = 1
matrices[:, (1), (1)] = c
matrices[:, (1), (2)] = -s
matrices[:, (2), (1)] = s
matrices[:, (2), (2)] = c
What is the proper way to create a numpy array of transformation matrices