The Minimum Number of Rotations About Two Axes for Constructing an Arbitrary Fixed Rotation

Mitsuru Hamada

For any pair of three-dimensional real unit vectors $\hat{m}$ and $\hat{n}$ with $|{\hat{m}}^{\mathrm{T}}\hat{n}|<1$ and any rotation $U$, let $N_{\hat{m},\hat{n}}(U)$ denote the least…