A Book to understand Euler angles (and Tait–Bryan )

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I am trying to understand Euler angles and why they work. What are some great books to use as a resource to build a deeper understanding of them? I want to know why 3-2-1 Euler angles are so commonly used, and proofs regarding the mathematical properties of this method..


Science Advisor
Euler angles are simply a way of parametrizing an arbitrary rotation from one frame to a rotated frame. Have you tried the Wikipedia article below? It is a good starting place.


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