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Rotations with Rodrigues’ vector

The rotational dynamics was studied from the point of view of Rodrigues’ vector. This vector is defined here by its connection with other forms of parametrization of the rotation matrix. The rotation matrix was expressed in terms of this vector. The angular velocity was computed using the components of Rodrigues’ vector as coordinates. It appears to be a fundamental matrix that is used to express the components of the angular velocity, the rotation matrix and the angular momentum vector. The Hamiltonian formalism of rotational dynamics in terms of this vector uses the same matrix. The quantization of the rotational dynamics is performed with simple rules if one uses Rodrigues’ vector and similar formal expressions for the quantum operators that mimic the Hamiltonian classical dynamics.