Abstract
A history of the description of a three-dimensional finite rotation is given starting with Cardano in the middle of the sixteenth century and ending with Bryan in the beginning of the past century. Description means both a textual description and/or a mathematical representation. To appreciate the historical context of the milestones reached over the centuries, the background and personality of the main players in this history are given. At the end, a short critical discussion is added, reviewing the present names of rotation parameters in use related to the scientists which have been considered here.
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