title: What would the rotation vectors be for a torus using simple toroidal coordinates (toroidal and poloidal coordinates)?
body: <p><a href="https://en.wikipedia.org/wiki/Toroidal_and_poloidal_coordinates" rel="nofollow noreferrer">https://en.wikipedia.org/wiki/Toroidal_and_poloidal_coordinates</a></p>
  <p>For example, I see there are the basic rotation matrices for each axis shown in <a href="https://i.stack.imgur.com/FxkIl.png" rel="nofollow noreferrer">1</a> but how would I find that in toroidal coordinates?</p>