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The exterior angle theorem is Proposition 1.16 in Euclid's Elements, which states that the measure of an exterior angle of a triangle is greater than either of the measures of the remote interior angles.
The axes of the original frame are denoted as x, y, z and the axes of the rotated frame as X, Y, Z.The geometrical definition (sometimes referred to as static) begins by defining the line of nodes (N) as the intersection of the planes xy and XY (it can also be defined as the common perpendicular to the axes z and Z and then written as the vector product N = z × Z).