\(\(\( (*Вариант\ 1*) \)\(
\)\(fT0 = {0, \(-mg\), 0}\)\)\)

TableForm[
      mppsi = {{Cos[psi], Sin[psi], 0}, {-Sin[psi], Cos[psi], 0}, {0, 0, 
            1}}]

TableForm[
      mpeta = {{1, 0, 0},  {0, Cos[eta], Sin[eta]}, {0, -Sin[eta], 
            Cos[eta]}}]

TableForm[
      mpgam = {{Cos[gam], 0, -Sin[gam]}, {0, 1, 0}, {Sin[gam], 0, 
            Cos[gam]}}]

TableForm[fT = mpgam . mpeta . mppsi . fT0]

\(\(\( (*Вариант\ 2*) \)\(
\)\(TableForm[
      mppsi1 = {{Cos[psi], 0, Sin[psi]}, {0, 1, 0}, {\(-Sin[psi]\), 0, 
            Cos[psi]}}]\)\)\)

TableForm[
      mpeta1 = {{1, 0, 0},  {0, Cos[eta], -Sin[eta]}, {0, Sin[eta], 
            Cos[eta]}}]

TableForm[
      mpgam1 = {{Cos[gam], -Sin[gam], 0}, {Sin[gam], Cos[gam], 0}, {0, 0, 
            1}}]

TableForm[fT1 = mpgam1 . mpeta1 . mppsi1 . fT0]

\(\(\( (*Вариант\ 3*) \)\(
\)\(TableForm[
      mppsi2 = {{Cos[psi], 0, Sin[psi]}, {0, 1, 0}, {\(-Sin[psi]\), 0, 
            Cos[psi]}}]\)\)\)

TableForm[
      mpeta2 = {{Cos[eta], -Sin[eta], 0},  {Sin[eta], Cos[eta], 0}, {0, 
            0, 1}}]

TableForm[
      mpgam2 = {{1, 0, 0}, {0, Cos[gam], -Sin[gam]}, {0, Sin[gam], 
            Cos[gam]}}]

TableForm[fT2 = mpgam2 . mpeta2 . mppsi2 . fT0]