刚体定点运动的SO(3)群

The Group SO(3) Of Rigid-body Rotation around with a Fixed Point

群论和经典力学的某些权威著作,在同一命题下,给出的以欧拉角为参量的转动矩阵竟然不相等,这是为什么?文中给出了解说.最后指出刚体定点运动的两个SO(3)群的群元矩阵虽然不同,但却有简单关系.

The authoritative books of group theory classical mechanics under the same proposition gives rotation matrixes of rotating rigid-body around a fixed point with the Euler angles parameter.Which is unexpectedly different,this ia why？Every why has its wherefore,this article gives explanation.At last,we point out motional rigid-body with a fixed point have two group SO（3）,the matrix element of them although is different,yet they have simple relationship.