Yaw pitch roll

Rotate direction:  get your coordinate hand, align your thumb to the rotation axes,  winding direction of other finger will be our rotate direction

Mathematic script:

unitX = UnitVector[3, 1]
unitY = UnitVector[3, 2]
unitZ = UnitVector[3, 3]
\[Alpha] = {x, y, z}
MatrixForm[RotationMatrix[\[Theta], unitY]]
MatrixForm[pitch = RotationMatrix[\[Theta], unitX]]
MatrixForm[RotationMatrix[\[Theta], unitZ]]

Result: (it's too hard to type the result,  so i just take a pitcure form mathematic)

I use row vector heve, so you need to transpose if you use column vector.