An alternative proof of Euler's rotation theorem

DOI10.1007/S00283-020-09991-ZMaRDI QIDQ2663633zbMATH OpenOpenAlexFDO

Authors Toby Joseph

Publication date 19 April 2021

Published in The Mathematical Intelligencer (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2008.05378

zbMATH Keywords

Chasle's theoremEuler's rotation theoremgeometric proofrigid body displacement

Mathematics Subject Classification ID

Kinematics of a rigid body (70B10)

Abstract: Euler's rotation theorem states that any reconfiguration of a rigid body with one of its points fixed is equivalent to a single rotation about an axis passing through the fixed point. The theorem forms the basis for Chasles' theorem which states that it is always possible to represent the general displacement of a rigid body by a translation and a rotation about an axis. Though there are many ways to achieve this, the direction of the rotation axis and angle of rotation are independent of the translation vector. The theorem is important in the study of rigid body dynamics. There are various proofs available for these theorems, both geometric and algebraic. A novel geometric proof of Euler rotation theorem is presented here which makes use of two successive rotations about two mutually perpendicular axis to go from one configuration of the rigid body to the other with one of its points fixed.

Review text

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.

Recommendations

• A Disorienting Look at Euler's Theorem on the Axis of a Rotation
• Euler's fixed point theorem: The axis of a rotation
• Chasles' fixed point theorem for Euclidean motions
• scientific article; zbMATH DE number 1822463
• Development of spinor descriptions of rotational mechanics from Euler's rigid body displacement theorem

Cites work

• A Disorienting Look at Euler's Theorem on the Axis of a Rotation
• Euler's fixed point theorem: The axis of a rotation
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Cited in

(5)

• A Disorienting Look at Euler's Theorem on the Axis of a Rotation
• Development of spinor descriptions of rotational mechanics from Euler's rigid body displacement theorem
• scientific article; zbMATH DE number 68292 (Why is no real title available?)
• On Euler’s Rotation Theorem
• Euler's fixed point theorem: The axis of a rotation

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