Why did we choose -w instead of w in R?

Why do we take the inverse of the rotation matrix?

Is the object inverted in y direction?

Could you quickly recap what makes a rotation matrix specifically? Is it simply that the columns are orthonormal to each other?

Why are we inverting the rotation matrix? Is it to rotate in the opposite direction?

Why the rotation matrix has these values as its entries?

Why did we choose -w instead of w in R?

Why do we take the inverse of the rotation matrix?

Is the object inverted in y direction?

Could you quickly recap what makes a rotation matrix specifically? Is it simply that the columns are orthonormal to each other?

Why are we inverting the rotation matrix? Is it to rotate in the opposite direction?

Why the rotation matrix has these values as its entries?