Nurki ψ, θ ja ϕ nimetatakse Euleri nurkadeks ja nad kannavad nimetusi, mis on pärit astronoomiast:ψ — pretsessiooninurkϕ — omapöördenurkθ — nutatsiooninurk
Precession, nutation, and intrinsic rotation (spin) are defined as the movements obtained by changing one of the Euler angles while leaving the other two constant.
Intrinsic rotations are elemental rotations that occur about the axes of a coordinate system XYZ attached to a moving body. Therefore, they change their orientation after each elemental rotation.
