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Angular Motion

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---
title: Angular Motion
categories: repetition lecture
---

# Representations of the Rotation

+ rotation matrix $R$
+ rotation around a vector $\omega$ with angle $\theta$
    + $R\omega=1\omega$, i.e. $\omega$ is an eigenvector
    + one is the only real eigenvalue

+ exponential form $\exp\hat\omega\theta$
    + Rodrigues' formula

# Continuous Motion

# Angular Motion