Figure 1

Spherical coordinates \((\theta , \varphi ) \in [0, 2\pi ]\times [0, \pi /2]\) of a unitary vector \(\overrightarrow{OP}\) to define the rotation axis.

Spherical coordinates \((\theta , \varphi ) \in [0, 2\pi ]\times [0, \pi /2]\) of a unitary vector \(\overrightarrow{OP}\) to define the rotation axis.