Relations in \(\text{SO}(3)\) supported by geodetic angles (Q1569846)

Let \(G_\alpha(p,q)\) be the subgroup of \(\text{SO}(3)\) generated by rotations \(A\) and \(B\) of order \(p\) and \(q\), respectively, about axes separated by an angle \(\alpha\). An angle \(\alpha\) supports relations if, for some integers \(p\) and \(q\), the group \(G_\alpha(p,q)\) is not the free product of the obvious \(\mathbb{Z}_p\) and \(\mathbb{Z}_q\) subgroups. Angles whose squared trigonometric functions are rational are called geodetic. If an angle \(\alpha\) is geodetic, then \(x=\exp(2i\alpha)\) is at worst a quadratic irrational since \(x+x^{-1}+2=4\cos^2(\theta)\) is rational. Geodetic angles are denoted by the squares of their sines: \(\angle(a/c)\) denotes \(\sin^{-1}(\sqrt{a/c})\). The authors show that there is only a finite set of geodetic angles \(\angle(a/c)\) that can support nontrivial relations between finite-order rotations \(A\) and \(B\) about axes separated by \(\angle(a/c)\). They list necessary conditions in terms of \(p\), \(q\), \(a\), and \(c\). They use explicit representations of the rotations \(A\) and \(B\) in \(\text{SO}(3)\) in order to determine which geodetic angles support relations. The angles between two axes of symmetries of Platonic solids support relations. They play an important role in this investigation.