# Rotating a rotation matrix around the global axes

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I was wondering how one might go about rotating a rotation matrix around the global axes as opposed to the local axes (just multiplying the matrix by the other rotation matrix). I checked around google, but unfortunately didn't pull up anything. Does anyone have any (almost) easy way of doing this? Thanks in advance :)

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Reverse the order of the operands.

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You can rotate a rotation matrix about either a local or global axis by multiplying it with a global axis rotation matrix on either the left or the right.

Let R be the rotation matrix and G be the global axis rotation matrix. When using column vectors, R*G is a local axis rotation and G*R is a global axis rotation. When using row vectors, G*R is a local axis rotation and R*G is a global axis rotation. [i.e. what John said.]

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...

Now I really feel like an idiot.

Thanks, regardless.

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