I have a sphere with a fixed radius. I have a set of points on that sphere, let's say $p_1, p_2$ and $p_3$ and it's $3$D Cartesian coordinates.
I rotated each of the points around the center of the sphere with the rotation matrix $M$ and get the set of $p_{1r}, p_{2r}, p_{3r}$ cartesian coordinates.
How can I calculate the matrix $M$ if I know that points coordinates?