2 + 3

TableForm[vLA = {Vx[t], Vy[t], Vz[t]}]

TableForm[D[vLA, t]]

TableForm[
      mp = {{a11, a12, a13}, {a21, a22, a23}, {a31, a32, a33}}]

TableForm[qq = mp . vLA]

R = {Xa, Ya, Za}

Ma = {alpha, beta}

Ma = {alp, bet}

R1 = Ma*R

Ma = {{alp}, {bet}}

R1 = Ma*R

MatrixForm[Ma = {{alp}, {bet}}]

(({{alp}, {bet}}))
R1 = 
      R*Ma
Null

tableform[R]

TableForm[R]

ma = Ma

R1 = ma . R

{{alp}, {bet}} . {Xa, Ya, Za}
R1 = TableForm[ma] . R

ma = {alf, bet}

{alf, bet}
R1 = ma . R

{alf, bet} . {Xa, Ya, Za}
ma = {{alf}, {bet}}

ma = {{alf}, {bet}}

R1 = ma*R

R1 = R*ma

r = R

r1 = ma*r

ma = {{alf}, {bet}, {1}}

{{alf}, {bet}, {1}}

TableForm[r1 = ma*r]

TableForm[
      mp1 = {{Cos[alf], 0, -Sin[alf]}, {0, 1, 0}, {Sin[alf], 0, 
            Cos[alf]}}]

TableForm[
      mp2 = {{1, 0, 0}, {0, Cos[bet], Sin[bet]}, {0, -Sin[bet], 
            Cos[bet]}}]

TableForm[r1 = mp1*mp2*r]

({{Xa Cos[alf], 0, 0}, {0, Ya Cos[bet], 0}, {0, 0, Za Cos[alf] Cos[bet]}})
TableForm[
      Inverse[mp1]]

TableForm[y1 = Transpose[mp1]]

y = Det[mp1]

TableForm[y1/y]

TableForm[r1 = mp2*mp1*r]

TableForm[mp1*r]

r1

TableForm[r1 = mp2*mp1*r]

TableForm[Inverse[r1 = mp2*mp1*r]]

TableForm[Transpose[r1 = mp2*mp1*r]]

TableForm[y1 = Transpose[mp2]]

TableForm[y1 = Inverse[mp2]]

TableForm[ReplaceAll[mp2, {bet -> 0}]]