def xyz_dot_matrix(coordinate, rotation_axis):
    """
    Calculates the dot matrix of a coordinate * rotation axis
    
    Args:
        coordinate (List[float]): Coordinate to be multiplied with rotation axis
        rotation_axis (List[List[float]]): Rotation axis in format [[?, ?, ?], [?, ?, ?], [?, ?, ?]]
                                           see Gade (2010) for a detailed explanation
    
    Returns:
        List[List]: Matrix A * Matrix B
    """
    result = []
    for i in range(len(coordinate)):
        total = 0
        for j in range(len(rotation_axis[0])):
            total += coordinate[j] * rotation_axis[i][j]
        result.append(total)
    return result
