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Concept# Axis–angle representation

Summary

In mathematics, the axis–angle representation parameterizes a rotation in a three-dimensional Euclidean space by two quantities: a unit vector e indicating the direction (geometry) of an axis of rotation, and an angle of rotation θ describing the magnitude and sense (e.g., clockwise) of the rotation about the axis. Only two numbers, not three, are needed to define the direction of a unit vector e rooted at the origin because the magnitude of e is constrained. For example, the elevation and azimuth angles of e suffice to locate it in any particular Cartesian coordinate frame.
By Rodrigues' rotation formula, the angle and axis determine a transformation that rotates three-dimensional vectors. The rotation occurs in the sense prescribed by the right-hand rule.
The rotation axis is sometimes called the Euler axis. The axis–angle representation is predicated on Euler's rotation theorem, which dictates that any rotation or sequence of rotations of a rigid body in a three-dimensional spa

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