test
Test
2009-01-13 01:18:25
2009-01-13 01:18:25
Definition
% this is the default PlanetMath preamble. as your knowledge
% of TeX increases, you will probably want to edit this, but
% it should be fine as is for beginners.
% almost certainly you want these
\usepackage{amssymb}
\usepackage{amsmath}
\usepackage{amsfonts}
% used for TeXing text within eps files
%\usepackage{psfrag}
% need this for including graphics (\includegraphics)
%\usepackage{graphicx}
% for neatly defining theorems and propositions
%\usepackage{amsthm}
% making logically defined graphics
%\usepackage{xypic}
% there are many more packages, add them here as you need them
% define commands here
The axis angle of rotation is a result of Euler's theorem of rotation and it describes a rotation of a three dimensional rigid body by a unit vector
\begin{equation}
\hat{e} = \left[ \begin{array}{c}
e_1 \\
e_2 \\
e_3 \end{array} \right]
\end{equation}
and an angle of rotation, $ \alpha $.