Rotation, Reflection, and Frame Changes: Orthogonal tensors in computational engineering mechanicsOrthogonal tensors are mainly used to describe rotation. They play a central role in robotics, rigid body kinematics, and all other branches of engineering mechanics, especially for modelling elastic and inelastic behavior of materials. Whilst vast literature is available for common rotation related tasks, such as coordinate changes, most reference books tend to cover one or two methods for handling rotations, while often neglecting relatively obscure