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Equal rotation?Please help!

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Strictly mathematical:Say that I want to do this:first a rotation of a point around a "u1" axis by "theta1" degrees,then a translation of the rotated point by "t1" vector,then a second rotation around a "u2" axis by "theta2" degrees and finally a translation by a "t2" vector.Which are the equal rotation(around a "u" axis by "theta" degrees) and translation which give the same result?If anyone knows... Thanks in advance

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Probably the simplest way is to construct each of those transforms as a 4X4 matrix, concatenate them all together and then extract the axis-angle and translation components from the result. The translation extraction is trivial, but the axis-angle is harder (but can be done). You could also extract the rotation to a quaternion if that floats your boat.

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I have found that the equal rotation 3x3 matrix is R=R2*R1 where R2 and R1 are the rotation matrices for each rotation.But how can I extract the u vector and the theta value from this?
As you said , it''s difficult and nothing occurs to me right now

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