An alternative proof of Euler's rotation theorem (Q2663633)

In this article the author shows a basic geometric proof of Euler's rotation theorem, which states that the displacement generated by two rotations with intersecting axes can be achieved by a single discrete rotation through the point of intersection. The proof itself is very geometric and narrative, i.e. hardly any formulas occur in the manuscript. Nevertheless the reasonings are sound and guide the reader through the proof and the steps are supported by figures. Additionally the related theorem of Chasles, stating that a general displacement of a rigid body in space can be obtained by a rotation about and a translation along an axis, is proven in the same manner. Also the the special case of its planar version is discussed.