\(fT = {0, \(-mg\), 
          0}\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ *сила\ тяжести*\)

TableForm[
      mfT1 = {{Cos[psi], Sin[psi], 0},  {-Sin[psi],  Cos[psi],  
            0},  {0,  0,  1}}]

TableForm[
      mfT2 = {{1, 0, 0},  {0,  Cos[eta],  
            Sin[eta]},  {0, -Sin[eta] ,  Cos[eta]}}]

TableForm[
      mfT3 = {{Cos[gam], 0, -Sin[gam]},  {0,  1,  0},  {Sin[gam],  
            0,  Cos[gam]}}]

TableForm[fT1 = mfT3*mfT2*mfT1*fT]