Editing Angular displacement (section)

=== Rotation matrices ===
Several ways to describe rotations exist, like [[rotation matrix|rotation matrices]] or [[Euler angles]]. See [[charts on SO(3)]] for others.

Given that any frame in the space can be described by a rotation matrix, the displacement among them can also be described by a rotation matrix. Being <math>A_0</math> and <math>A_f</math> two matrices, the angular displacement matrix between them can be obtained as <math>\Delta A =  A_f A_0^{-1}</math>. When this product is performed having a very small difference between both frames we will obtain a matrix close to the identity.

In the limit, we will have an infinitesimal rotation matrix.