#### Rotation Matrix from transform, rotation, and pivot

Hi all,

I have a problem where i trying to develope a rotation matrix knowing a objects transform (x,y,z), rotation (x,y,z) world pivot (x,y,z). i think key is to figure out theta from rotation (x,y,z), but don't know. This might be a basic algebra question, but i'm trying to do it in maya. Thanks for any help.

Do i do it like theta = tan-1 (-z/sqrt(x^2+y^2)) from xyz of rotation and go from there?

thanks