PlanetPhysics/Axis Angle of Rotation
The axis angle of rotation is a result of Euler's theorem of rotation and it describes a rotation of a three dimensional rigid body by a unit vector
![{\displaystyle {\hat {e}}=\left[{\begin{matrix}e_{1}\\e_{2}\\e_{3}\end{matrix}}\right]}](https://wikimedia.org/api/rest_v1/media/math/render/svg/1d194469dd1499ff3555c58bddd78f13f410ea11)
and an angle of rotation, .
The axis angle of rotation is a result of Euler's theorem of rotation and it describes a rotation of a three dimensional rigid body by a unit vector
and an angle of rotation, 