SIAM Review, Volume 63, Issue 2, Page 395-404, January 2021.
The Rodrigues formula for the $3\times 3$ rotation matrix is hardly ever derived from first principles in a simple and intuitive way that is accessible to undergraduate students. Two different derivations of the rotation matrix are presented here. This communication is written in a simple and expository style, so that it could serve as supplementary material to an introductory linear algebra course.

中文翻译：

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三个维度的旋转

SIAM Review，第 63 卷，第 2 期，第 395-404 页，2021
年1 月。 3 美元乘以 3 美元旋转矩阵的罗德里格斯公式几乎从未以本科生可用的简单直观的方式从第一原理推导出来。这里介绍了旋转矩阵的两种不同推导。本交流以简单和说明性的风格编写，因此可以作为介绍性线性代数课程的补充材料。