Theory of finite rotations of rigid bodies

  • A. I. Lurie
Part of the Foundations of Engineering Mechanics book series (FOUNDATIONS)


A rigid body having a fixed point O is subject to rotation through an angle x about an axis whose direction is given by unit vector e. The direction of e is chosen in such a way that watching from the end of vector e one observes the rotation through a positive angle ≤180°, that is counterclockwise for a right-handed coordinate system.


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© Springer-Verlag Berlin Heidelberg 2002

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  • A. I. Lurie

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