Rotations in Three Dimensions

The Rodrigues formula for the 3 x 3 rotation matrix is hardly ever derived from first principles in a simple and intuitive way that is accessible to undergraduate students. Two different derivations of the rotation matrix are presented here. This communication is written in a simple and expository style, so that it could serve as supplementary material to an introductory linear algebra course.

Automated summary

The Rodrigues formula for the 3 x 3 rotation matrix is rarely derived in a simple and intuitive way accessible to undergraduate students, so this paper presents two different derivations in a clear and expository style. It can serve as supplementary material for an introductory linear algebra course.