Definition:Rotation (Geometry)/Space/Vector Form

Definition
A space rotation $r_\theta$ can be expressed as an axial vector $\mathbf r_\theta$ such that:
 * the direction of $\mathbf r_\theta$ is defined to be its axis of rotation
 * the length of $\mathbf r_\theta$ specifies its angle of rotation of $\mathbf r_\theta$ to an appropriate scale.


 * Rotation-as-Axial-Vector.png