Visualizing rotations and composition of rotations with the Rodrigues vector

DOI10.1088/0143-0807/37/6/065001MaRDI QIDQ5298498zbMATH OpenOpenAlexFDO

Authors Angel G. Valdenebro

Publication date 15 December 2016

Published in European Journal of Physics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1607.05999

zbMATH Keywords

rigid body kinematicsRodrigues vector

Mathematics Subject Classification ID

Dynamics of multibody systems (70E55)

Abstract: The purpose of this paper is to show that the mathematical treatment of three dimensional rotations can be simplified, and its geometrical understanding improved, by using the Rodrigues' vector representation. We present a novel geometrical interpretation of the Rodrigues' vector. Based on this interpretation and simple geometrical considerations, we derive Euler Rodrigues' formula, Cayley's rotation formula, and the composition law for finite rotations. The level of this discussion should be suitable for undergraduate physics or engineering courses where rotations are discussed.

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• A simple graphical method for orthogonal rotation of axes
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• Interpretation of elements of the logarithm of a rotation matrix as rotation components around coordinate axes of a reference frame
• Projective bivector parametrization of isometries in low dimensions
• On the differentiation of the Rodrigues formula and its significance for the vector‐like parameterization of Reissner–Simo beam theory
• Rotations with Rodrigues’ vector
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• On representing rotations by rodrigues parameters in non-orthonormal reference systems

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