Abstract
This chapter highlights the use of rotational matrices to transform from one coordinate system to another. In practice, there are different coordinate systems within the spacecraft that specify a desired rotation. Some examples for the use of rotational matrices are the Ares V rocket and the orbital motion of a satellite. In addition, this chapter provides a brief description about quaternions and describes the use of the quaternions in space rotations. The quaternions and the rotational angles are related to each other by the rotational matrix to obtain the transformations between quaternions and Euler angles.
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