Thomas rotation and the parametrization of the Lorentz transformation group

Two successive pure Lorentz transformations are equivalent to a pure Lorentz transformation preceded by a 3×3 space rotation, called a Thomas rotation. When applied to the gyration of the rotation axis of a spinning mass, Thomas rotation gives rise to the well-knownThomas precession. A 3×3 parametric, unimodular, orthogonal matrix that represents the Thomas rotation is presented and studied. This matrix representation enables the Lorentz transformation group to be parametrized by two physical observables: the (3-dimensional) relative velocity and orientation between inertial frames. The resulting parametrization of the Lorentz group, in turn, enables the composition of successive Lorentz transformations to be given by parameter composition. This composition is continuously deformed into a corresponding, well-known Galilean transformation composition by letting the speed of light approach infinity. Finally, as an application the Lorentz transformation with given orientation parameter is uniquely expressed in terms of an initial and a final time-like 4-vector.