= Orbital-frame rotation from inclination and node
{title2=$R_z(\Omega)R_x(I)$}
In a right-handed reference frame, the <rotation matrix> from an <orbital plane> frame whose first axis points along the <ascending node> is $R_z(\Omega)R_x(I)$. Its columns are the orbital frame's <orthonormal basis> expressed in reference coordinates. The <unit vector> normal is $(\sin\Omega\sin I,-\cos\Omega\sin I,\cos I)$; its <dot product> with another such normal gives the cosine of their <mutual inclination>.
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