DescriptionRodrigues rotation formula animation.gif
English: Animation illustrating the geometric interpretation of Rodrigues rotation formula in three dimensions. A vector v is decomposed into a component parallel to the rotation axis k and a component perpendicular to k. The parallel component remains unchanged, while the perpendicular component rotates in the plane orthogonal to k, producing the rotated vector w.
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Animated geometric illustration of Rodrigues rotation formula: a vector is decomposed into components parallel and perpendicular to the rotation axis, and the perpendicular component is rotated in its plane.