Welcome to our online resource on rotations. This resource contains instructional materials featuring rotations of rigid bodies in three dimensions. Simulations, animations, and historical commentary are also provided. The applications are wide spread and include rigid body dynamics, inertial navigation, celestial mechanics, video games, and orthopaedic biomechanics, among many others.

We are continuously updating this site with additional and revised content. Recent updates are highlighted below:

Recent Updates

Despite our ongoing work, the site is far from exhaustive in its scope and the editors welcome hearing about other interesting applications and pedagogical resources. We thank you in advance for your interest.


Daniel T. Kawano
Department of Mechanical Engineering
Rose-Hulman Institute of Technology

Alyssa Novelia and Oliver M. O’Reilly
Department of Mechanical Engineering
University of California, Berkeley

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