Euler parameterization of a rotation

Note the inherent sign ambiguity in the matrices of SU (2) the positive and negative signs in the A matrices correspond to the same improper rotation in ft3. The choice of signs +,,  

A general rotation R about any axis n may be achieved by three successive rotations  

The Euler angles have been defined in the literature in several different ways. We are (as is always the case in this book) using the active representation in which the whole of 

Exercise 11.7-1 Using projection diagrams, show that for an arbitrary angle cu 

This relation provides a mechanism for dealing with a negative angle ft. The inverse of R(a ft 7) results from carrying out the three inverse rotations in reverse order  

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