How to calculate no of rotation for a cube in x y and z axis

[anilcybernetics]

My application is to rotate a cube as shown in the link below . 

http://www.youtube.com/watch?v=-uKoqIaFCpU

https://decibel.ni.com/content/docs/DOC-18964

For the same kind of program how to calculate no of rotation that it has rotated in x y and z axis.

Thank you

Anil