Resumen de On the product of rotations

G. Trenkler, D. Trenkler

• Using the elementary tools of matrix theory, we show that the product of two rotations in the three-dimensional Euclidean space is a rotation again. For this purpose, three types of rotation matrices are identified which are of simple structure. One of them is the identity matrix, and each of the other two types can be uniquely characterized by exactly one vector. The resulting products are investigated by using the basic properties of the vector cross product.