The explicit representation to the principal rotation angle and the principal rotation axis

By using Cayley-Hamilton theorem, two kinds of explicit representation for the rotation tensor are proposed. One contains the lower powers of deformation gradient, by which the formula of the principal rotation angle and the explicit representation of principal axis are obtained; the other, a high efficient method to obtain the rotation tensor, does not contain the complicated coefficients and uses few variables. Some properties about the principal rotation angle and the principal rotation axis are obtained.