This paper discusses the problem of composition of two arbitrary rotations in SO (3, R) given
in their vector-parameter form. The cases when one or two half-turns are involved in the …

The embeddings of the so (3) Lie algebra and the Lie group SO (3) in higher dimensions is
an important construction from both mathematical and physical viewpoint. Here we present …

The well-known Rodrigues formula describes the three dimensional orthogonal matrices in
terms of their axes and angles of rotation. Actually, an arbitrary SO (3, R) element can be …

The Cayley maps for the Lie algebras su (1, 1) and so (2, 1) converting them into the
corresponding Lie groups SU (1, 1) and SO (2, 1) along their natural vector …

The aim of this paper is to provide a complete purely algebraic proof of homomorphism
between SU (2) and SO (3) without concerning the topology of both groups. The proof is …

We discuss dierent parameterizations of the group SO (3). The well-known Rodrigues
formula describes the three dimensional orthogonal ma-trices in terms of their axes and …