Simple examples of $3 \times 3$ rotation matrices I'd like to have some numerically simple examples of $3 \times 3$ rotation matrices that are easy to handle in hand calculations (using only your brain and a pencil). Matrices that contain too many zeros and ones are boring, and ones with square roots are undesirable. A good example is something like
$$
M = \frac19 \begin{bmatrix}
1 & -4 & 8 \\
8 &  4 & 1  \\
-4 & 7 & 4
\end{bmatrix}
$$
Does anyone have any other examples, or a process for generating them?
One general formula for a rotation matrix is given here. So one possible approach would be to choose $u_x$, $u_y$, $u_z$ and $\theta$ so that you get something simple. Simple enough for hand calculations, but not trivial. Like the example given above.

Some entries of the rotation matrix, whether $2 \times 2$ or $3 \times 3$, are the trigonometric functions; to ensure that entries of the matrix are simple numbers that are less computationally expensive, pick integer multiples of $\pi$ on which the trigonometric functions are either $1, -1$ or $0$.
Is that what you meant?
