Euler rate of ZYZ sequence and its relation with angular velocity

How the Euler rate th, psi, and phi can be obtained from the equation below? What can relate the Euler rate with angular velocity?

th= -0.2*cos(2*pi*t); % angle 1

psi= 0.2*sin(2*pi*t); % angle 2



phi(k)= atan(-T/S); ^ angle 3

R=Rot('y',th)*Rot('x',psi)*Rot('z',phi); % Rotation matrix

Thank you

submitted by /u/MSEOUL
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