The geometrical and algebraic interpretations of Euler–Rodrigues formula in Minkowski 3-space

Abstract

The aim of this paper is to give the geometrical and algebraic interpretations of Euler–Rodrigues formula in Minkowski 3-space. First, for the given non-lightlike axis of a unit length in [Formula: see text] and angle, the spatial displacement is represented by a [Formula: see text] semi-orthogonal rotation matrix using orthogonal projection. Second, we obtain the classifications of Euler–Rodrigues formula in terms of semi-skew-symmetric matrix corresponds to spacelike, timelike or lightlike axis and rotation angle with the help of exponential map. Finally, an alternative method is given to find rotation axis and the Euler–Rodrigues formula is expressed via split quaternions in Minkowski 3-space.