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How to rotate a 3D vector using a rotation matrix?

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Question... Is it possible?...

It is the whole purpose of a rotation matrix!

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... If so, how is it done?

An ordinary matrix by vector product is applied. [/font][font="arial, verdana, tahoma, sans-serif"]Look e.g. at Euclidean Space on rotation matrices. And e.g. at wikipedia on the matrix vector product "non-technical example" (remember that a vector is a matrix with either 1 column (a so-called column-vector) or else a matrix with 1 row (a so-called row-vector), so a matrix by vector product is just a special case of a matrix by matrix product).[/font]

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