In: Physics
The rotation matrix for rotation about Z axis by a finite angle theta is
when this angle is 180 degrees or Pi radians, Cos(180 degrees) = -1, Sin(180 degrees) = 0. Therefore
Similarly, rotation matrix for rotation about X axis by a Pi radians is
and otation matrix for rotation about Y axis by Pi radians is
Hamilton Rodrigues theorem states that a sequence of rotation about three mutually perpendicular axes(X, Y and Z) by Pi radians is equivalent to the identity transformation. Hence
which is the identity matrix. Thus Hamilton-Rodrigues theorem is proved.