I wrote up a bit about how axis-angle rotations become transformation matrices. The blurb requires you have a basic understanding of vector algebra and vector/matrix multiplication. I claim neither completeness nor correctness at this point

But, I hope this sheds some light on the subject for a few people:
<http://dog4.dyndns.org:8080/trac/wiki/AxisAngleRotation>

Cool, definitely an important part of 3D graphics. You might want to consider adding a quaternion section, too.

(Takes for ever to load, BTW. Probably since it's being hosted on your computer (or at least I'm assuming it is, from the dyndns domain))

I mucked around with the server a bit, it should be faster now, though don't expect stellar speeds.