The calculation of rotation angles between two coordinate systems
There is a three-dimensional orthogonal coordinate system (OXYZ). There is another orthogonal coordinate system (OX''z`) rotated relative to the first unknown angles. The centers of the coordinate systems coincide. In the coordinate system (OXYZ) we know the coordinates of the vector OX` and the vector OZ`. You need to find the rotation matrix for going from coordinate system (OXYZ) to (OX''z`). Help, and the whole brain itself broke. Or prompt in what side to dig.