Simple, Double and Isoclinic Rotations with a Viable Algorithm

Abstract

The main topic of this study is to investigate rotation matrices in four dimensional Euclidean space in two different ways. The first of these ways is Rodrigues formula and the second is Cayley formula.The most important common point of both formulas is the use of skew symmetric matrices. However, depending on the skew symmetric matrix used, it is possible to classify the rotation matrices by both formulas. Therefore, it is also revealed how the rotation matrices obtained by both formulas are classified as simple, double