Rotation angles (Q2367998)

We show that for free body motion, it may be preferable to use the nine elements of the rotation tensor. For elastically attached bodies, the most natural are the three elements of the rotation angle vector, for which we propose the name Argyris anlges. The exponential function relating the rotation tensor and the Argyris angles is derived as the solution of a differential equation, which also shows why the exponential form, while interesting, is not practically suitable. The relation between the angular velocity vector and the Argyris angles derivative is similar to the relation in Euler angles but in a symmetric form which has some interesting properties that determine the practical application of Argyris angles.