Closed rotation sequences (Q2340412)

Let \(\mathcal{R}(\Phi,v)\) be a righthanded rotation through an angle \(\Phi\) about a unit vector \(v\). The authors investigate \(n\)-tuples \((\Phi_1, \ldots, \Phi_n)\) of angles that satisfy \(\mathcal{R}(\Phi_1,v_1)\cdots\mathcal{R}(\Phi_n,v_n)=I\), where \(I\) is the identity rotation and \((v_1,\ldots, v_n)\) denotes a given \(n\)-tuple of unit vectors. The main result that the authors obtain is a complete characterization of all closed rotation sequences involving a given set of axes of rotation. The authors give an algebraic proof of their theorem. The motivation for the present investigations comes from a number of classical theorems dealing with rotations about various axes, such as the Rodrigues-Hamilton theorem, the Goodman-Robinson theorem, Donkin's theorem, Ishlinkskii's theorem, and Codman's paradox. Originally, some of the classical results were suggested and essentially supported by intuition.