PlanetPhysics/Axis Angle of Rotation

The axis angle of rotation is a result of Euler's theorem of rotation and it describes a rotation of a three dimensional rigid body by a unit vector $$ \hat{e} = \left[ \begin{matrix} e_1 \\ e_2 \\ e_3 \end{matrix} \right] $$

and an angle of rotation, $$ \alpha $$.