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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