Rigid body kinematics in an intuitive group-theoretic approach, as completely as possible: Part I Rotational phenomena

TL;DR

This paper presents a comprehensive, intuitive group-theoretic framework for understanding rotational phenomena in rigid body kinematics, reviewing existing methods and introducing original, largely unexplored concepts.

Contribution

It offers a complete, accessible group-theoretic approach to rigid body rotation, including novel insights and a thorough review of current literature.

Findings

Develops an intuitive group-theoretic model for rotations

Provides a comprehensive review of existing literature

Introduces original concepts in rotational kinematics

Abstract

This paper focuses on rotational phenomena of rigid body kinematics. It discusses them in a group-theoretic approach as completely as possible, using methods and notations as intuitive as possible. With a review of current literature, this article also covers some original parts that remain largely unexplored.