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In
two
dimensions
we
say
that
a
rigid
body
has
only
one
rotational
degree
of
freedom,
whereas
in
three
dimensions
we
say
that
a
rigid
body
has
three
rotational
degrees
of
freedom.
This
might
lead
you
to
infer
that
in
three
dimensions
you
need
to
have
three
scalar
quantities
to
represent
a
body's
rotation.
Indeed,
this
is
the
minimum
requirement.
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