The Earth is made mostly of crystalline materials. Due to their lattice geometries, all crystalline grains are anisotropic and hence their orientations influence many physical properties such as strength, seismic velocity and optical properties. The difference in lattice orientation between two adjacent grains – the misorientation – gives key information on the nature of the boundary between those grains and insight into how the boundary formed. The mathematics of orientation, which this book addresses in great detail, is therefore very relevant to Earth science.

It begins at a very fundamental level, discussing various representations of rotation – the easiest to...

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