01337nam a2200193Ia 4500 MX-MdCICY 20260521091552.0 CICY B-17261 An historical note on finite rotations Journal of Applied Mechanics, 56(1), p.139-145, 1989 It is shown in this paper that Euler was first to derive the finite rotation formula which is often erroneously attributed to Rodrigues, while Rodrigues was responsible for the derivation of the composition formulae for successive finite rotations and the so-called Euler parameters of finite rotation. Therefore, based upon historical facts, the following nomenclature is suggested: Euler's finite rotation formula, Rodrigues' composition formulae of finite rotations, and Euler-Rodrigues parameters. The text of the paper contains modern symbols and formula forms, while the Appendices contain brief summaries from relevant historical sources with minor alterations in symbols at the most. MATHEMATICAL TECHNIQUES - VECTORS Cheng, H. Gupta, K. C. https://drive.google.com/file/d/1VZs6yj-iMHkHJSfUGL0xknblLRAhzaPY/view?usp=drive_link Para ver el documento ingresa a Google con tu cuenta: @cicy.edu.mx Loc REF1 250602s9999 xx |||||s2 |||| ||und|d 27363 27363 0 0 Loc 0 0 F1 CICY CICY RE 2025-06-25 0 B-17261 2025-06-25 16:02:07 2025-06-25 REF1