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Since the interior and exterior angles sum to 180 degrees, the angle CPD is exactly 90 degrees; that is, a right angle. The set of points P such that angle CPD is a right angle forms a circle, of which CD is a diameter. Second, see [18]: 15 for a proof that every point on the indicated circle satisfies the given ratio.
To find the angle of a rotation, once the axis of the rotation is known, select a vector v perpendicular to the axis. Then the angle of the rotation is the angle between v and Rv. A more direct method, however, is to simply calculate the trace: the sum of the diagonal elements of the rotation matrix.
The angle θ which appears in the eigenvalue expression corresponds to the angle of the Euler axis and angle representation. The eigenvector corresponding to the eigenvalue of 1 is the accompanying Euler axis, since the axis is the only (nonzero) vector which remains unchanged by left-multiplying (rotating) it with the rotation matrix.
Euler angles are typically denoted as α, β, γ, or φ, θ, ψ. This presentation is convenient only for rotations about a fixed point. Axis–angle representation (pictured at the right) specifies an angle with the axis about which the rotation takes place. It can be easily visualised.
The reference point (analogous to the origin of a Cartesian coordinate system) is called the pole, and the ray from the pole in the reference direction is the polar axis. The distance from the pole is called the radial coordinate, radial distance or simply radius, and the angle is called the angular coordinate, polar angle, or azimuth. [1]
It assigns three numbers (known as coordinates) to every point in Euclidean space: radial distance r, polar angle θ , and azimuthal angle φ . The symbol ρ ( rho ) is often used instead of r . In geometry , a coordinate system is a system that uses one or more numbers , or coordinates , to uniquely determine the position of the points or ...
Thales's theorem can also be used to find the centre of a circle using an object with a right angle, such as a set square or rectangular sheet of paper larger than the circle. [7] The angle is placed anywhere on its circumference (figure 1). The intersections of the two sides with the circumference define a diameter (figure 2).
The axis of rotation is known as an Euler axis, typically represented by a unit vector ê. Its product by the rotation angle is known as an axis-angle vector. The extension of the theorem to kinematics yields the concept of instant axis of rotation, a line of fixed points.