We have so far considered only rotations about the coordinate axes. But molecules often contain rotations axes at some cockeyed angle, and we now have to learn how to deal with that. We will show two ways, the Euler rotation matrix (this chapter) and the Lie rotation matrix (next chapter).
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© 2009 Springer Science+Business Media, LLC
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McClain, W.M. (2009). Euler rotation matrices. In: Symmetry Theory in Molecular Physics with Mathematica. Springer, New York, NY. https://doi.org/10.1007/b13137_11
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DOI: https://doi.org/10.1007/b13137_11
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