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In [Boll. Unione Mat. Ital., II. Ser. 2, 452--455 (1940; Zbl 0024.22704)], \\textit{G. Grioli} proved that   \\[ \\mathop {\\mathrm{arg}\\min}\\limits_{R \\in \\mathrm{SO}(3)} \\| R^TF - \\mathbf 1 \\|^2 = \\{R_p(F)\\} = \\mathop {\\mathrm{arg}\\min}\\limits_{R \\in \\mathrm{SO}(3)} \\| F - R\\|^2. \\]  This variational characterization of the orthogonal factor \\(\\mathrm R_{\\mathrm p}(F) \\in \\mathrm {SO}(n)\\) holds in any dimension \\(n \\geq 2\\) (a result due to \\textit{L. C. Martins} and \\textit{P. Podio-Guidugli} [Am. Math. Mon. 87, 288--290 (1980; Zbl 0431.15010)]). In a similar spirit, we characterize the optimal rotations   \\[ \\mathrm {rpolar}_{\\mu,\\mu_c}(F) := \\mathop {\\mathrm{arg} \\min}\\limits_{R \\in \\mathrm{SO}(n)} \\{ \\mu \\|\\mathrm{sym}(R^TF - \\mathbf 1)\\|^2 + \\mu_c\\| \\mathrm{skew}(R^TF -\\mathbf 1)\\|^2\\} \\]   for given weights \\(\\mu > 0\\) and \\(\\mu_c \\geq 0\\). We identify a classical parameter range \\(\\mu_c \\geq \\mu > 0\\) for which Grioli's theorem is recovered and a non-classical parameter range \\(\\mu > \\mu_c \\geq 0\\) giving rise to a new type of globally energy-minimizing rotations which can substantially deviate from \\(\\mathrm R_{\\mathrm p}(F)\\). In mechanics, the weighted energy subject to minimization appears as the shear-stretch contribution in any geometrically nonlinear, quadratic, and isotropic Cosserat 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