passiveX[
              u_] := {{1,  0,  0}, {0,  Cos[u],  
                Sin [u]}, {0,  -Sin [u],  Cos[u]}};
passiveY[
              u_] := {{ Cos[u], 0,  -Sin [u]}, {0,  1,  
                0}, {Sin [u], 0,   Cos[u]}};
passiveZ[
              u_] := {{Cos[u],  Sin [u],  0}, {-Sin [u],  Cos[u], 
                0 },  {0,  0,  1}};

Print["Passive X:"]
MatrixForm[passiveX[t]]
Print["Passive Y:"]
MatrixForm[passiveY[t]]
Print["Passive Z:"]
MatrixForm[passiveZ[t]]

Print["-----------------------------------"]
Print["Composite passive rotation matrices about rotated \
coordinate frames"]
Print[""]
Print["Composite passive rotation matrices transform the \
three coordinates of a vector"]
Print["from a fixed coordinate frame to a rotated \
one."]
\(Print["Coordinates of vector are in column matrices."]\)
Print["-----------------------------------"]

Print["Passive rotatedXYX: \
passiveX[c].passiveY[b].passiveX[a]"]
MatrixForm[
          passiveX[c] . passiveY[b] . passiveX[a]]
Print["-----------------------------------\
"]

Print["Passive rotatedXZX: \
passiveX[c].passiveZ[b].passiveX[a]"]
MatrixForm[
          passiveX[c] . passiveZ[b] . passiveX[a]]
Print["-----------------------------------\
"]

Print["Passive rotatedYXY: \
passiveY[c].passiveX[b].passiveY[a]"]
MatrixForm[
          passiveY[c] . passiveX[b] . passiveY[a]]
Print["-----------------------------------\
"]

Print["Passive rotatedYZY: \
passiveY[c].passiveZ[b].passiveY[a]"]
MatrixForm[
          passiveY[c] . passiveZ[b] . passiveY[a]]
Print["-----------------------------------\
"]

Print["Passive rotatedZXZ: \
passiveZ[c].passiveX[b].passiveZ[a]"]
MatrixForm[
          passiveZ[c] . passiveX[b] . passiveZ[a]]
Print["-----------------------------------\
"]

Print["Passive rotatedZYZ: \
passiveZ[c].passiveY[b].passiveZ[a]"]
MatrixForm[
          passiveZ[c] . passiveY[b] . passiveZ[a]]
Print["-----------------------------------\
"]

Print["Passive rotatedXYZ: \
passiveX[c].passiveY[b].passiveZ[a]"]
MatrixForm[
          passiveX[c] . passiveY[b] . passiveZ[a]]
Print["-----------------------------------\
"]

Print["Passive rotatedXZY: \
passiveX[c].passiveZ[b].passiveY[a]"]
MatrixForm[
          passiveX[c] . passiveZ[b] . passiveY[a]]
Print["-----------------------------------\
"]

Print["Passive rotatedYXZ: \
passiveY[c].passiveX[b].passiveZ[a]"]
MatrixForm[
          passiveY[c] . passiveX[b] . passiveZ[a]]
Print["-----------------------------------\
"]

Print["Passive rotatedYZX: \
passiveY[c].passiveZ[b].passiveX[a]"]
MatrixForm[
          passiveY[c] . passiveZ[b] . passiveX[a]]
Print["-----------------------------------\
"]

Print["Passive rotatedZXY: \
passiveZ[c].passiveX[b].passiveY[a]"]
MatrixForm[
          passiveZ[c] . passiveX[b] . passiveY[a]]
Print["-----------------------------------\
"]

Print["Passive rotatedZYX: \
passiveZ[c].passiveY[b].passiveX[a]"]
MatrixForm[
          passiveZ[c] . passiveY[b] . passiveX[a]]