((Subscript[R, Z])(pitch)=[(cos(pitch)-sin(pitch)0sin(pitch)cos(pitch)0001)](Eqn.   10)(Subscript[R, Y])(yaw)=[(cos(yaw)0sin(yaw)010-sin(yaw)0cos(yaw))](Eqn.   11)(Subscript[R, X])(roll)=[(1000cos(roll)-sin(roll)0sin(roll)cos(roll))](Eqn.   12))