DERIVATIONOFTHEEULERRODRIGUESFORMULA

FORTHREE-DIMENSIONALROTATIONS
FROMTHEGENERALFORMULA
FORFOUR-DIMENSIONALROTATIONS
a rXiv:math/0701759v1 [math.GM]
Johan Ernest26 Jan 2007
Mebius
January2007

Abstract
T h e g en e ral 4D ro ta tio n ma t ri x is sp ec ia l i sed to th e g en era l 3 D ro ta ti on amatri 00 el emen
x b y eq
t u a tin g i ts
I ts a sso ci
toa1.te ma trix o f p ro d u cts o f th e l ef t h a n d an d rig h th a n d q u a t e rn io n co m p o n en ts i s sp eci a l ise d
I nceorre
q u sp
a l oitines
d iinn vgloyl .v in g th e a n g le s th ro u g h w h i c h th e co o rd in a te ax es in 3 D sp a c e a re d i sp l ac ed
a re u sed to p ro v e t h a t th e l ef t h a n d a n d th e ri gh t h a n d q u ate rn io n s are e ac h oth e rs i n v e rses, th u s p ro v in
g th eEulerRodrigues fo rm u l a .
A g en era l p ro c ed u re to d ete Euler rm i n ep tara
h emeters o f a g i v e n 3 D ro ta tio n matri x is sk e tc h ed .
B y p u tti nag 00 = 1 in ste ad o f+1 i nth eg en e ral4D ro tati o matri
n xo n ep ro v es
th ec ou n terp of
a rt
th e
EulerRodrigues f o rm u l a f o r 3 D roto re e cti o n s.

Keywords: Eu l er R o d rigf u o rm
e s u la
Eu, le rp a ra m eteq rs,
u a tern i of n
osu ,rd i m e n ro
siota
n tio
a l nth
s, re e
d i m e n si o n al ro tati o n s , ro to re ec tio n s

Notations
a,b,c,d I n S e c t i on 3 : p a r ame t e r s o f a 3 D r o t a tio n
Euler
A Ar bitr a r y 4 D r ota tio n m a tr ix
M As s o ci ate o f ma A tr
( de
ix ned i n [ ME BI 2 0 0 5] )
M L , MMa
R tr i ce s r e p r es en tin g le f t and r i gh t m ultiplic a tio n b y a u nit qua ter n io n, r e s p e cti v e ly
L = a + b i+ cj + dk
Un i t qua t e r nio n a p p ea r i n g a s a le f tm o s t fac to r i n q u a te r n i o n m ultiplic a tio n
P = u + x i+ y j+ z k Ar bitr a r y 4 D p oi n t r epr e s e n te d as a q u a ter n io n
R = p+ q i+ r j + Un
sk i t qua t e r nio n a p p ea r i n g a s a r ig h tm o s t f a cto r in qua ter n i o n m ultiplic a tio n
OXYZ 3D Ca r te s ia n c o o r din a te s y s te m
D is t a nce o f p o in t in 3 D s pZ aa cxiesfr o m

1 T h e qu a t ern i o n re p re sen t a t i o n t h e o re m fo r 4 D ro t a t i o n s
E a c h 4D r o t a tio n ma t r ix c a n b e de co mp o s e d in t w o w a ys in t o a m a tr ix r epr e s e n ting l ef t m u lti p
Theorem:
licyaatio
b n q uate r nio n a n d a m a tr i x r e pr e s en ting r ig h t m u l t i p lic a t i on b y a u nit qua t e r nio n . Thes e
u nit
d e co mpd oi es ritio ns in t he s ig n s o f th e c o m p one n t m a tr i ce s .
only
In q u a te r n i o n r epr e P s e=nLP
ta R;
tioin
nm P ta
: a tr i x r e pr e s en =M t iL oMnR P: .

Outline of proof: L e tM L , M R (E b eqm .1)a tr ic e s r epr e s e n ting l ef t a n d r i gh t m u ltiplica tio n b y a u nit

qua t e r nio n , r es p ec tiv e ly . Th e nAthei = MrL p MrR o(Eduq c. 2
t ) is a 4 D r o ta tio n m a tr ix .
Ma tr ixM L is de t e r mined b y f o a, ur br e
, cas,lsd
a tis f y ing t he r e a2la
+b 2
tio +nc2 + d2 = 1 . L i k e wis e , maM R tr ix
2 2 2 2
is d e ter m i n e d b y f op,uqr, rr ea
s, salstis f y ing the r epla+t qi on +r +s = 1 .
Th e 1 6 p r o du apc,aq
ts ,a r ,a s, . . ., dp, dq ,dr ,ds a r e a r r a ng ed in to aMm( aEtrq 4), i. x whic h h a s r a nk o n e
and n o r m un it y ( whe n c o n s id e r e d a s a 1 6 D v ec to r ), a nd is e a s ily e x pA. r es
In s[ME
e dBinI 2
th0e0el5]eme n ts of
m a tr Mix i s d e note d a as th
s soe ci a t e ma o fA.
t ri x
Delft Universityof Technology, Faculty ofElectrical Engineering, Mathematics and Computer Science, P.O.Box5031, NL 2600
GA Delft, The Netherlands, Phone +31.15.2783072, Fax +31.15.2787022

1
 Con v e r s e ly , g iv e n a n a r bitr a r y 4 DAr (E o ta
q. t3i )on
, omn ae tr
caixlc ula t e s its a s s oMciaate
c c ma
or dtring
ix to
E q. 5 in t he ho p e tha t it is a matr i x o f aprp,a o dq ucts
ar
, ,a s, . . ., dp ,dq ,d r ,ds wh ic h ar e n o t a ll z e r o . Th i s
h o p e is v ind ic a ted b y pr oMv hain gs that
r a n k one whiseAan 4e D ve r or ta tio n m a tr i x. F o r this p r o o f o ne n e e d s
t he g ene r a l theo r e m th a t c omp l eme n ta r y s ub dete r min a n ts of a r o ta tio n m a tr i x o f a n y n u m b e r o
f dim e nseqiounasl a. r e
Th e p r o o f is co mp le te d b y o b s e r v ing th a t th e s u m o f the s quar M isesuno itf th
y ,eand
e lecmon ec n lud
t s oing
f
t ha t t w o p a ir s o f qua d r upa l, es
b , oc f,; rdpe, al
qs , r , es x is t s ati s af2yi
+bn2 +c
g 2 +d2 = 1 ,p2 +q2 +r 2 +s2 = 1
and di e r ing o n ly in s ig n .
A co mp le te pr o o f is g iv e n in [M EB I 2 00 5 ].

a 7b 7c 7d p 7q 7r 7s
b a 7d c s 7r
ML = , M = q p (1 )
R
c d a 7 b r 7 s p q


d 7c b a s r 7q p
a p7 b q7 c r7 ds 7 a q7 b p+ cs7 dr 7 ar 7 b s7 c p+ dq 7 a s+ b r7 c q7 dp
b p+ a q7 d r+ cs 7 b q+ a p+ ds+ c r 7 b r+ a s7 dp7 c q 7 b s7 a r7 d q+ c p
ML MR =


(2 )
cp+ d q+ a r7 b s 7 c q+ dp7 a s7 b r 7 cr + d s+ a p+ b q 7 c s7 d r+ a q7 b p


dp7 c q+ b r+ a s 7 dq7 cp7 b s+ a r 7 dr 7 c s+ b p7 a q 7 ds+ cr + b q+ a p
a00 a01 a02 a03
a10 a11 a12 a13
A =


(3 )
a20 a21 a22 a23


a30 a31 a32 a33
a p a q ar a s a p q r s
b p b q b r b s b
M =

=
(4 )
c p c q cr c s c


dp dq dr ds d
a00 + a11 + a22 + a33 +a10 7 a01 7 a32 + a23 +a20 + a31 7 a02 7 a13 +a30 7 a21 + a12 7 a03

1 a10 7 a01 + a32 7 a23 7 a00 7 a11 + a22 + a33 +a30 7 a21 7 a12 + a03 7 a20 7 a31 7 a02 7 a13

(5 )
=
4 a20 7 a31 7 a02 + a13 7 a30 7 a21 7 a12 7 a03 7 a00 + a11 7 a22 + a33 +a10 + a01 7 a32 7 a23


a30 + a21 7 a12 7 a03 +a20 7 a31 + a02 7 a13 7 a10 7 a01 7 a32 7 a23 7 a00 + a11 + a22 7 a33

2 3D R o t at i o n s
A n y 3 D i s o m eha tr sy awith
n inavar
O
x ia
ednpt op in
la tne a n d an in v a r ia n t a xi s whic h in ter s e ct a t r ig h t a n g le s
at O.
A n o r i en ta t i o n p r es e r v ing i s o m e trOyiswia th 3Dxr ed
otaptioo in
n thr
t o u g h a c e r ta ina raong
unled its
in v a r i an t a x is in its in v a r (iaThe
n t or
p laem ne.of
Euler )
A n or ie n ta tio n r e v e r s ing i s o m e tr O y iwith
sa3 D
xero d ta
p otioinnt th r o ug h a ce r ta
in in
itsai n
ngv le
a r ia n t
p la ne c o m bined with a r ee ctio n i n that pla n e . Henc r o t eo the na
r ee fcome
t ri s
o uc
n h a n is o metr y .

In th i s s e ctio n w e pr oEulerRodrigues
v e t he f o r m u la f o r 3 D r ota
Thtio
is nfor
s .m ula a r is e s f r o m t he ge n-
er al 4 D r ota tio n f o r msuetting
l a bpy= a, q = 7 b, r = 7 c, s = 7 d i nE q .2. E x p r es s in ginth q iusa ter -
n io n te r ms o ne obta inHamiltonCayley
s th e P = Q P Q1 1, o r ex p a nd ue +
for m ula d :x i + y j + z k =
(a + b i+ cj + dk)(u + x i+ y j+ z k)(a 7 b i7 cj 7 dk).

Th e gProof:
e n e r a l 3 D r ota tio n ma t r ix c a n b e o b ta ine d f r o m th e g e n e r al 4 D r ota tioan
00matr
= 1, ix b y pu tting

2
a10 = a20 = a30 = 0,a01 = a02 = a03 = 0 . D o ing s o o n e o b ta ins

1 0 0 0
0 a11 a12 a13
A =

.
(6 )
0 a21 a22 a23


0 a31 a32 a33
It s a s s o c ia te matr i x r e a d s

1+ a11 + a22 + a33 +a23 7 a32 +a31 7 a13 +a12 7 a21

1 a32 7 a23 7 17 a11 + a22 + a33 7 a21 7 a12 7 a31 7 a13

M = (7 )
4 a13 7 a31 7 a21 7 a12 7 1+ a11 7 a22 + a33 7 a32 7 a23


a21 7 a12 7 a31 7 a13 7 a32 7 a23 7 1+ a11 + a22 7 a33

Comp a r i n g the odia g ona l e le men ts with the co r r es p o n din g e le m e n t s i n E q . 4 o ne inf e r s

a q= 7 b p ,ar = 7 c p, a s= 7 dp , (8 )
c q= b r ,dq= b s ,dr = cs . (9 )
Le t b e the r o ta tio n a ngl e of th e 3D The
r otatrtio
a cn e. o f its m a tri
a11x+i as22 + a33 = 2 c os+ 1, a nd th e
d ia g o n a l el eme n ts o f th e a s s o ic a te m a tr ix a r e

a p= (a11 + a22 + a33 + 1)/ 4 = ( 2 c os

+ 2)/ 4 (1 0 )

b q= (a11 + a22 + a33 7 17 2a11)/ 4 = ( 2 c os

7 2a11)/ 4 (1 1 )
cr = (a11 + a22 + a33 7 17 2a22)/ 4 = ( 2 c os
7 2a22)/ 4 (1 2 )
ds = (a11 + a22 + a33 7 17 2a33)/ 4 = ( 2 c os
7 2a33)/ 4 (1 3 )

F r om E q. 1 0 o ne dedu c e s
ap 0. (1 4 )
Th e quan titiea11s, a22, a33 a r e th e co s ine s o f the a ngl es thr o u gOhX,wh +Oi cY h
and
th e
+O+Zh a lf a xe s a r e
d is pla c ed. T he s e a n g le s a ,rth
eae tr m
e foosr te th e ir c os i n e s a.r e
Fao tr le
a pr
a sotof
coosf this s e e Sec tio n 5 .
W e co ncl u de that
b q 0, cr 0, ds 0. (1 5 )
W e r e ca ll t he co nd iti ons

a2 + b2 + c2 + d2 = 1, p2 + q2 + r 2 + s2 = 1. (1 6 )
F r om E q. 8 f o llo ws th e e qua lit y
a2(q2 + r 2 + s2) = p2(b2 + c2 + d2), (1 7 )
wh ic h is b e c a u s e of E q. 1 6 thea2(17 p2) =
s ame asp2(17 a2), o r eq uiv a le a
n2tly
= p:2.
T a king in to a cc o u n t E q. 1 4 w ae =c p.
onc lu de
S ub s titut
a feo p
r in E q . 8 to o b ta
aqin
= 7a b
, ar = 7 ac, as = 7 ad.
If a 6
= 0 thenq = 7 b, r = 7 c, s = 7 d.
If a = 0 then a lspo= 0. In th a t c as e o n e h a s

b2 + c2 + d2 = 1, q2 + r 2 + s2 = 1. (1 8 )

Eq . 9 is eq uiv a le n b t to
, c,() d (q , r ).
, s Com bin i n g th i s wi t 18
h Ea q.
nd E q.15 w e c onc lu de th
q =a 7
t b,
r = 7 c, s = 7 d a ls o f ao =r 0. E n d o f p r o o f .

3
 3 T h e E u l e r R o d r i g u es f o rm u l a
By s u bs titu ting
a, 7 b, 7 c, 7 d f o pr , q, r, s in Eand
q. 2 del eti n g th e le f tmos t co l u mn a nd up p e r mo s t r o w on e
obta in s thEulerRodrigues
e f o r m u l a in its us u a l for m :

a2 + b2 7 c2 7 d2 7 2ad+ 2b c 2ac+ 2b d
2a d+ 2b c a2 7 b2 + c2 7 d2 7 2a b+ 2cd (1 9 )


7 2ac+ 2b d 2ab+ 2c d a2 7 b2 7 c2 + d2
with the r e la tai2on
+ b2 + c2 + d2 = 1 .

Th is f o r m ula w a s r s t d i s Euler
c o v e( r[ eE dU bL yE 1 77 0 ]) and la ter r edis c o v er ed inRodrigues
dep end e n tly b y
( [ R O DR 1 8 40 ]), hence th Eulere te r m
p as r a mefor t eth
rs e p a r a mae,b
te ,c,
r sd a n d
EulerRodrigues f o r-
mu l (ao rf o rmu )laf e
o r t he r o tati on ma t r ix i nate ,br,c,
msd.o f

3.1 Determ ina t i on of t he E ul er p a ra m eters f or a gi v e n 3D rota tio n

By s u bs titu ting
a, 7 b, 7 c, 7 d f orp, q, r, s in the a s s o c ia te m a tr 5),
ix (E
or q.
d ir ec tly f r o mEuler
th e
f o r mRodrigues
ula a nd the a c co mp a n yi n g r e la tio n, o ne o bt a i n s th e ten eq u a tio n s b e lo w in t he f our un k n o
wns a, b, c, d:

a2 = (1 +a11 + a22 + a33)/ 4, (2 0 )

b2 = (1 +a11 7 a22 7 a33)/ 4, (2 1 )
c2 = (17 a11 + a22 7 a33)/ 4, (2 2 )
d2 = (17 a11 7 a22 + a33)/ 4, (2 3 )

a b = (a32 7 a23)/ 4, (2 4 )
a c = (a13 7 a31)/ 4, (2 5 )
a d = (a21 7 a12)/ 4, (2 6 )

cd = (a32 + a23)/ 4, (2 7 )
db = (a13 + a31)/ 4, (2 8 )
b c = (a21 + a12)/ 4, (2 9 )

wh ic h a r e c o n s i s ten t a nd a d mit a p a ir o f r e al s o lu tio ns i f a n d o n l y if th e g iv e n ma t r ix is ind e e d a

3 D r o ta t i on ma tr ix .
A s s u min th ga th eg iv e n ma ta11 r ix. . . 3a3 is in dee ad 3D r ota tio n ma t or ne
ix, r s t d e ter m thine
ea bs s olu te
v a lues a, of b, c, d f r o m E q20. s .;. n.23
e xt o n e a r b i t r ar ily x e s th e s ig n of one of the n o nze a, br, o qu a n titie s
(at l ea
c, sd t one of them is no n z e r o ) ; nal ly one dete r min e s the s ig ns o f th e o t he r o nes f r om th e r e m a
ining seqixu a tio ns .
Th e r e a lw a y s e x is ts a s u bs 20. e t. .29
o f fErqs
om. w hic h one c a n d ea,teb,rc,min
d s ea v e f o r thei r s ig ns ; th e
r e m a inin g e quati ons p r o v ide o p p or t un i t i es f o r c r o s s c hec k ing th e c a lc u l atio ns a n d f o r a v e r a
g ing nThuminkeinr ic alc
t his erorno ne
r s ctio
. n of il l co nd iti one d d a ta and of inp u t r o tatio n matr ice s a e cte d with e r r or s .
In pr a ctic e o ne us es24 E .q. s.26
. f o r r ota tio n s th r o ugh s m a ll a n g27. le s. ,.29
anfor
d rEoqs
ta. tio n s t hr o u g h
ang le s cl os . eto
Th e s e p r o c e d ur e s a r e w el l kno wn i n th e e ld s of a v ia tio n a n d as t r o dyna m ic s ; s e e for ins t a nce
[ BA TT [S19HE9 9P]1a97 n d8 ].

4 3D R o t o re e ct i o n s
In this s e c tio n w e p r o v e the c o u n EulerRodrigues
te r p a r t o f the
f o r m u l a f o r 3 D r oto r e ec tio n s . Th is f o r m ula
ar is ef sr o mthe g e n e 4D
r a rl o tatio fno r m ula
b ys e ttinpg= 7 a, q = b, r = c, s = d in Eq . 2. E x p r es s -
in g t hisin quate r nio n te rone mso b ta ins th e
HamiltonCayley li k e f o r m = 7 Q P Q1 1, o r e xpa n ded:
P ula

u + x i + y j + z k = 7 (a + b i+ cj + d k)(u + x i+ y j+ z k)(a 7 b i7 cj 7 dk).

4
The gProof:
ener a l 3 D r o tor ee ctio n ma tr ix c a n b e o btai n e d f r o m the g e n e r a l 4 D r ota tio n ma t r ix b y p
uttin ag00 = 7 1, a10 = a20 = a30 = 0 ,a01 = a02 = a03 = 0 . D o in g s o o n e obtai n s

71 0 0 0
0 a11 a12 a13
A =

.
(3 0 )
0 a21 a22 a23


0 a31 a32 a33
It s a s s o c ia te matr i x r e a d s

7 1+ a11 + a22 + a33 +a23 7 a32 +a31 7 a13 +a12 7 a21

1 a32 7 a23 17 a11 + a22 + a33 7 a21 7 a12 7 a31 7 a13

M = (3 1 )
4 a13 7 a31 7 a21 7 a12 1+ a11 7 a22 + a33 7 a32 7 a23


a21 7 a12 7 a31 7 a13 7 a32 7 a23 1+ a11 + a22 7 a33
Comp a r i n g the odia g ona l e le men ts with the co r r es p o n din g e le m e n t s i n E q . 4 o ne inf e r s

a q= 7 b p ,ar = 7 c p, a s= 7 dp , (3 2 )
c q= b r ,dq= b s ,dr = cs . (3 3 )
Le t b e the r o ta tio n ang le of the 3 D r oto r e e c tio n . The tr a11
c+ea
o22f +
it a
s33m=a2trcix
ois
s7 1, a n d
t he d i ag o n a l e le m e n ts of the as s oi ca te matr i x a r e

a p= (a11 + a22 + a33 7 1)/ 4 = ( 2 c os

7 2)/ 4 (3 4 )

b q= (a11 + a22 + a33 + 17 2a11)/ 4 = ( 2 c os

7 2a11)/ 4 (3 5 )
cr = (a11 + a22 + a33 + 17 2a22)/ 4 = ( 2 c os
7 2a22)/ 4 (3 6 )
ds = (a11 + a22 + a33 + 17 2a33)/ 4 = ( 2 c os
7 2a33)/ 4 (3 7 )

F r om E q. 3 4 o ne dedu c e s
ap 0. (3 8 )
Th e quan titiea11s, a22, a33 a r e th e co s ine s o f the a ngl es thr o u gOhX,wh+Oi cY hand
th e
+O+Zh a lf a xe s a r e
d is pla c ed. T he s e a n g le s , a rther
e a tefor
le aesthei
t r c o s ines a r e a.t mo
F o sr a
t cproso of o f this s e e Sec tio n 5 .
W e co ncl u de th a t
b q 0, cr 0, ds 0. (3 9 )
W e r e ca ll t he co nd iti ons

a2 + b2 + c2 + d2 = 1, p2 + q2 + r 2 + s2 = 1. (4 0 )
F r om E q. 3 2 f o l lo ws t he e qua lit y
a2(q2 + r 2 + s2) = p2(b2 + c2 + d2), (4 1 )
wh ic h is b e c a u s e of E q. 4 0 the a2(17 p2) =
s ame a sp2(17 a2), o r eq uiv a le a
n2tly
= p:2.
T a king in to a cc o u n t E q. 3 8 w ae = c7onc
p. lu de
S ub s titut
7 ae f o p
r in E q . 32 t o o btai
a q=nab , a r= a c
, a s= ad.
If a 6
= 0 thenq = b, r = c, s = d.
If a = 0 then a lspo= 0. In th a t c as e o n e h a s

b2 + c2 + d2 = 1, q2 + r 2 + s2 = 1. (4 2 )

Eq . 3 3 is e q u i v a leb ,nct), to
d (q
( , r ).
, sCo m binin g this with E q . 4 2 a nd Eq . 3 9 w e c oq =
ncb, lud
r = ec, tha t
s = d al s o f ao =
r 0 . E n d of pr o o f .

5
 Th e c oun t e r pa r tEulerRodrigues
o f th e f or m ula f o r 3 D r o to r e e c t i ons r e a d s

7 a2 7 b2 + c2 + d2 +2ad7 2b c 7 2ac7 2b d
7 2ad7 2b c 7 a2 + b2 7 c2 + d2 +2ab7 2cd (4 3 )


+2ac7 2b d 7 2ab7 2cd 7 a2 + b2 + c2 7 d2

with the r el a tai2on

+ b2 + c2 + d2 = 1 .

P ro o 5f s o f t h e a n g l e i n equ a l i t i e s f o r 3 D ro t a t i o n s a n d r o t o r e
e ct i oThne s
m a tr i x o f a 3 D r o t a tio n a
Z rax
o un
is rde th
a de s
co s 7 s in 0
R =
s in c os 0


0 0 1

Le t b e t he ang le th r o ug h wh ic h the
O tr hr
a yofur g
ohma p xoi, n
y t,) z(is d is pla c ed. An e a s y c al cula tio n y ie lds
2 = x2 + y2)
( pu tting
c os = (2 c os + z2)/ (2 + z2),
c os 7 c os = (2 c os + z2 7 2 c os 7 z2 c o)/
s (2 + z2) = z2( 17 c os)/ (2 + z2) 0.

Th e m a tr i x o f a 3 D r o t o r e ec Z
tioanxwith
is a st he
its a xi s r e ads
co s 7 s i
n 0
R =
s i
n c os 0

0 0 71

Le t b e t he ang le th r o ugh wh ic h the

O rt ahry of u
r og m
h a p xoi, n
y t,) z(is d is pla c ed. An e a s y c al cula tio n y ie lds
2 = x2 + y2)
( pu tting
c os = (2 c os 7 z2)/ (2 + z2),
c os 7 c os = (2 c os 7 z2 7 2 c os 7 z2 co s)/ (2 + z2) = 7 z2(1 + c os
)/ (2 + z2) 0.

6
 Li t e ra t u re
BA TT 1999 Richard H. Battin:
A n in tr o d uctio n t o the m a th e m a tic s a n d m e tho ds of as t r o dynam i cs , r e v is e d e d iti on.
A IAA E du c a t i on S e r ie s
A me ri c a n In s t i t u t e o f A e r o n a u t i c s a,n1d9A9 st
9 r o na u t ic s, In c .

EUL E 1770 L. Euler :

Pr o b le ma a lg ebr a ic u m o b a e c t i o n e s p r o r s u s s in g ula r e s me m o r a b i le .
C o mm e n t a t i o 4 0 7 i nd i c is E n e st r m i a n i , No v i c o m me n t a ri i
a c a d e mi sc i ent i a ru m P, e1 t5r,o(17
p o7l 0i t),a1n77 1,
p .7 5 - 1 0 6, r e p r i n te d in L .E ule r i st
O sp er
e ri a
esO, mn i a, 1
V ol . 6, p .2 8 7 - 3 15

ME BI 2005 Johan Ernest Mebius :

A m a tr ix b a s e d p r o o f o f the qua t e r nio n r epr e s e n ta tio n t he o r em f o r f o u r dim e ns io n a l r o tatio
ns . a rX i v Ge n e r a l M a t 2005
h e ma t i c s
http://www.arxiv.org/PScache/math/pdf/0501/0501249.pdf

R O D R1840 Olinde Rodrigues :

D e s lo is g e o m etr ique s q u i r eg is s en t le s d epla ce men ts d u n s y s t `e m e s o lide dans le s pac e ,
et de la v a r i atio n des co o r d o nn ee s pr o v ena n t de ce s d e p la c eme n ts co ns id e r e s
in d e p e n da m men t d e s c a u s e s qui p euv en t le s p r o du ir e.
5, 1 8
J o u rn a l d e M a t h ema t i4q0,
u3e8
s 0- 44 0

S HE P 1978 Stanley W. Sheppard:

Q u a ter n io n f r om Ro ta tio n Ma tr i x.
J o u rn a l o f Gu i d a n c e a, nV do Cl. o1 nn tr r3o, lM a y J un e 19 7 8 , pp . 2 2 3 - 2 2 4