How can I derive a rotation matrix

Hi everyone,

I have the 3 classical rotation matrices around x,y and z axis, I multiplied them to obtain the general rotation matrix and I'd like to derive it, how should I do it ?

Thanks in advance

[Jan]

What does "derive" mean exactly here? A temporal or spatial derivative?

[Vincent DUFOUR]

I need the temporal derivative here.

I saw I could do it using the "hat" operator from R(3) to SO(3) but I don't know how to do it in matlab... I only found the inverse operator (the vee operator from SO(3) to R(3))