VECTOR DESCRIPTION OF ROTATIONS.
ROYAL AIRCRAFT ESTABLISHMENT FARNBOROUGH (ENGLAND)
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The four-parameter method of describing rotations has been presented in purely vector terms, the four parameters being the three components of a vector along the axis of rotation and the co-magnitude of the vector needed to resolve an ambiguity. The rate of change of the rotation vector is simply related to the angular velocity, by a formula which requires remarkably little computation of coefficients in the differential equations of the motion. Author
- Numerical Mathematics