Editing Rotation (section)

=== Euler rotations ===
{{Main|Euler angles}}
[[Image:Praezession.svg|thumb|right|upright=0.8|Euler rotations of the Earth. Intrinsic (green), Precession (blue) and Nutation (red)]]
Euler rotations provide an alternative description of a rotation. It is a composition of three rotations defined as the movement obtained by changing one of the [[Euler angles]] while leaving the other two constant. Euler rotations are never expressed in terms of the external frame, or in terms of the co-moving rotated body frame, but in a mixture. They constitute a mixed axes of rotation system, where the first angle moves the [[line of nodes]] around the external axis ''z'', the second rotates around the [[line of nodes]] and the third one is an intrinsic rotation around an axis fixed in the body that moves.

These rotations are called [[precession]], [[nutation]], and ''intrinsic rotation''.