Question

In: Physics

Prove the Hamilton-Rodrigues theorem using the finite rotation formula.

Prove the Hamilton-Rodrigues theorem using the finite rotation formula.

Solutions

Expert Solution

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.


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