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

$$\hat{e} = \left[ \begin{array}{c} e_1 \\ e_2 \\ e_3 \end{array} \right]$$ (1)

and an angle of rotation, $\alpha$ .

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• bloftin

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