High Quality Content by WIKIPEDIA articles! The axis angle (or rotation vector) representation of a rotation, also known as the exponential coordinates of a rotation, parameterizes a rotation by two values: a unit vector indicating the direction of a directed axis (straight line), and an angle describing the magnitude of the rotation about the axis. The rotation occurs in the sense prescribed by the right hand grip rule. This representation evolves from Euler's rotation theorem, which implies that any rotation or sequence of rotations of a rigid body in a three-dimensional space is equivalent to a pure rotation about a single fixed axis.

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