Choose a unit vector A toil as the axis of rotation

and a further angle 4 as the amount of nhtionw.r.tn

Rig Euclidean rotation metric

I Rijxj
1划
2
1512 the length is preserved
T T Rijg Rik Xk Xixi ⼆

Rij Rikxjxk ⼆ Xi Xi
So Rij Rik Sjk ⼆

or RTR ⼆
I
expand R to 1st order R ⼆ It E G
It EGK It EG
f
EGtEGE dt.is
GE_G antisymmetric
General antisymmetric nation matrix

Hiiiiaoiiiii
let
TFÉ SEE 不
㡭
万 it I i 下 23 1

So JiJxp Eixp
 Ji I Eimkgkn EjmkEikn
⼀

mn

EkxpdoS
⼆
Ekim Eknj EkjmEkni ⼀

SS.gsA
⼆
SinSmjfijsen Sjnsmi Sjy
的138 Pr
⼆
Sin Sjm 8imfjn
⼆ ⼀ SimSjn 8in Sjm
E E1
kij
Eijk I mn

compared with angular momentum

operaonilifjfitEijki
they are basically the Same up to a factor it

Rotation in 2d
Id Complex representation of UCI
coordinate x K of a point in 2d
given
define z xitixz E Z M Z eig rotation
有⼼
Rotation in 3d
axis of rotation U unit vector
4，2⼼
Rūgj
angle of rotation E

vectr Ǒ 0Ǔ a 02，0了 3 parameters

length 0 direction along I

 SO 3 is not Abelian i Rio Ri ⼼ 中 Ri ⼼ Rio

Infinitesimal rotation nā
Ǖ Rǔ Cdo Ū Itūxijdzo

驅飍
Rotation in State space í
4 i 147
route the system log R.ir_ ⼼型
now 4街 ⼆ ⼼
Assume the initial wave function at the point E
is rotated to it Ücr 4⼼

Ücri 與 4 RT

fi Ni R147

41 RTYǙ tiils
t PEN so REĀ R is unitary

Ǘiiy
Rotation
axis.in
wrfft
Rio 趴途
if
籤 iixx
So X yZ Tkxtydo yxdo Z
 Expand 1st order in de

4ixnz Ucxinz
idfEĪEÉǗ 前 ⼀ 年到4以 ⼼
compare with

⼀⽉疑
tcx.y.it14 1 1
ido 147
so 14仁 Rid0 147 1
in 1147
Rzld0 l

i in3
diRdd.co Ū Ū 4 ⼼ do
Ride 七 ⼆ Ū 4 ⼼ do
Rgldojv ⼆ Ūtgxūldo
Ri do E E Èxvldo_
Using
Rgtdó Rxldol Ryldo RxEdo ⼆ Rzldodo
so
Hiddlyktid哭 1
idól ⽤
些 ⼆
lidody
looking at coefficient of dado

單 哭 ⼀
哭 ⼀

哭 柒⽇
C.ly it Lz
 HWI
wrtz axis
㖌 想趴別 if
rotation
Yj actually
define Gx
we

录
y ⼆ Ual Xig lcosoxsīnogsinoxtaoy
Then
It QGDN.DE x 0yyty7lEGoi EojFtG
⼆ 0g Gxtax Gg XP
⼆
and
SO
Gcix GyyGx hiihā
Similarly rotation wrt x axis Gox y Get Gg
y axis Gog EG x_x Gt
And Gox Gog Got

def I⼆ ⼀
it É 7 li Lj it Eijk Lk