Talk:PlanetPhysics/Euler 121 Sequence

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For more info on Euler Sequences, notation and convention see the generic entry on \htmladdnormallink{Euler angle sequences}{http://planetphysics.us/encyclopedia/EulerAngleSequence.html}.

$ R_{121}(\phi, \theta, \psi) = R_1(\psi) R_2(\theta) R_1(\phi) $ \\

The rotation \htmladdnormallink{matrices}{http://planetphysics.us/encyclopedia/Matrix.html} are

\begin{equation} R_1(\psi) = \left[ \begin{array}{ccc} 1 & 0 & 0 \\ 0 & c_{\psi} & s_{\psi} \\ 0 & -s_{\psi} & c_{\psi} \end{array} \right] \end{equation}

\begin{equation} R_2(\theta) = \left[ \begin{array}{ccc} c_{\theta} & 0 & -s_{\theta} \\ 0 & 1 & 0 \\ s_{\theta} & 0 & c_{\theta} \end{array} \right] \end{equation}

\begin{equation} R_1(\phi) = \left[ \begin{array}{ccc} 1 & 0 & 0 \\ 0 & c_{\phi} & s_{\phi} \\ 0 & -s_{\phi} & c_{\phi} \end{array} \right] \end{equation}

Carrying out the \htmladdnormallink{matrix multiplication}{http://planetphysics.us/encyclopedia/Matrix.html} from right to left \\

$ R_2(\theta)R_1(\phi) = \left[ \begin{array}{ccc} c_{\theta} & 0 & -s_{\theta} \\ 0 & 1 & 0 \\ s_{\theta} & 0 & c_{\theta} \end{array} \right] \left[ \begin{array}{ccc} 1 & 0 & 0 \\ 0 & c_{\phi} & s_{\phi} \\ 0 & -s_{\phi} & c_{\phi} \end{array} \right] = \left[ \begin{array}{ccc} c_{\theta} & s_{\theta}s_{\phi} & -s_{\theta} c_{\phi} \\ 0 & c_{\phi} & s_{\phi} \\ s_{\theta} & -c_{\theta} s_{\phi} & c_{\theta} c_{\phi} \end{array} \right] $ \\

Finaly leaving us with the Euler 121 sequence \\

$ R_1(\psi)R_2(\theta)R_1(\phi) = \left[ \begin{array}{ccc} c_{\theta} & -s_{\theta} s_{\phi}  & s_{\theta} c_{\phi}  \\ -s_{\psi} s_{\theta} & c_{\psi} c_{\phi} - s_{\psi} c_{\theta} s_{\phi} & c_{\psi} s_{\phi} + s_{\psi} c_{\theta} c_{\phi} \\ -s_{\theta} c_{\psi} & -s_{\psi} c_{\phi} - c_{\psi} c_{\theta} s_{\phi} & -s_{\psi} s_{\phi} + c_{\psi} c_{\theta} c_{\phi} \end{array} \right] $

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