Charts on SO(3) closed set under composition. This visualization can be extended to a general rotation in 3-dimensional space. The identity rotation is a point, and a small angle of rotation about some axis can be represented as a point on a sphere with a small radius. As the angle of rotation grows, the sphere grows, until the angle of rotation reaches 180 degrees, at which point the sphere begins to shrink, becoming a point as the angle approaches 360 degrees (or zero degrees from the negative direction). This set of expanding and contracting spheres represents a hypersphere in four-dimensional space (a 3-sphere).
Degrees of freedom (statistics) independent pieces of information that go into the estimate of a parameter are called the degrees of freedom. In general, the degrees of freedom of an estimate of a parameter are equal to the number of independent scores that go into the estimate minus the number of parameters used as intermediate steps in the estimation of the parameter itself (most of the time the sample variance has "N" − 1 degrees of freedom, since it is computed from "N" random scores minus the only 1 parameter estimated as intermediate step, which is the sample mean). Mathematically, degrees of freedom is