RotationRotation or rotational motion is the circular movement of an object around a central line, known as axis of rotation. A plane figure can rotate in either a clockwise or counterclockwise sense around a perpendicular axis intersecting anywhere inside or outside the figure at a center of rotation. A solid figure has an infinite number of possible axes and angles of rotation, including chaotic rotation (between arbitrary orientations), in contrast to rotation around a axis.
Quaternions and spatial rotationUnit quaternions, known as versors, provide a convenient mathematical notation for representing spatial orientations and rotations of elements in three dimensional space. Specifically, they encode information about an axis-angle rotation about an arbitrary axis. Rotation and orientation quaternions have applications in computer graphics, computer vision, robotics, navigation, molecular dynamics, flight dynamics, orbital mechanics of satellites, and crystallographic texture analysis.
Family of setsIn set theory and related branches of mathematics, a collection of subsets of a given set is called a family of subsets of , or a family of sets over More generally, a collection of any sets whatsoever is called a family of sets, set family, or a set system. A family of sets may be defined as a function from a set , known as the index set, to , in which case the sets of the family are indexed by members of .
Rotation formalisms in three dimensionsIn geometry, various formalisms exist to express a rotation in three dimensions as a mathematical transformation. In physics, this concept is applied to classical mechanics where rotational (or angular) kinematics is the science of quantitative description of a purely rotational motion. The orientation of an object at a given instant is described with the same tools, as it is defined as an imaginary rotation from a reference placement in space, rather than an actually observed rotation from a previous placement in space.
Disjoint setsIn mathematics, two sets are said to be disjoint sets if they have no element in common. Equivalently, two disjoint sets are sets whose intersection is the empty set. For example, {1, 2, 3} and {4, 5, 6} are disjoint sets, while {1, 2, 3} and {3, 4, 5} are not disjoint. A collection of two or more sets is called disjoint if any two distinct sets of the collection are disjoint. This definition of disjoint sets can be extended to families of sets and to indexed families of sets.
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