PlanetPhysics/Axis Angle of Rotation

The axis angle of rotation is a result of Euler's [[../Formula/|theorem]] of rotation and it describes a rotation of a three dimensional [[../RigidBody/|rigid body]] by a [[../PureState/|unit vector]]

$\hat{e}=\left[\begin{array}{c}{e}_1\\ e_2\\ e_3\end{array}\right]$

and an angle of rotation, $\alpha$.