Evaluate `|(cosalphacosbeta,cosalphasinbeta,-sinalpha),(-sinbeta,cosbeta,0),(sinalphacosbeta,sinalphasinbeta,cosalpha)|`

Explanation

To evaluate the determinant

\[
D = \begin{vmatrix}
\cos \alpha \cos \beta & \cos \alpha \sin \beta & -\sin \alpha \\
-\sin \beta & \cos \beta & 0 \\
\sin \alpha \cos \beta & \sin \alpha \sin \beta & \cos \alpha
\end{vmatrix}
...