arXiv:0904.4787quant-ph
Hamilton's theory of turns revisited
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Abstract
We present a new approach to Hamilton's theory of turns for the groups SO(3) and SU(2) which renders their properties, in particular their composition law, nearly trivial and immediately evident upon inspection. We show that the entire construction can be based on binary rotations rather than mirror reflections.
Maybe related Hamilton's theory of turns revisited https://arxiv.org/abs/0904.4787
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