簡潔直觀的羅德里格斯旋轉點軸方程推導

約定符號 點乘 A ⋅ B = B ⋅ A A \cdot B = B \cdot A A⋅B=B⋅A 叉乘 A × B = − B × A A \times B= -B \times A A×B=−B×A 數乘 α B = B α \alpha B = B\alpha αB=Bα p ⃗ \vec{p} p ​ 繞單位向量 n ⃗ \vec{n} n 逆時針旋轉 μ \mu μ弧度 q ⃗ =

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