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In order to overcome the problem of “singular points”, a method has been developed for the kinematically accurate separation of a large rotation into an axial Euler vector and a transverse Euler vector. The proposal is based on the fact that in the problems of the rotor dynamics of machines consisting of shafts, gears, bearings, etc., the transverse rotation never reaches a value of 2π (a critical value for the Euler vector). The axial rotation is not limited in any way. A numerical dynamics example illustrating the method is presented. The result of the dynamics problem is checked by observing the law of conservation of total energy.

A method for describing large rotations with a combination of axial and transverse Euler vectors