I hope it is OK to mention "A Disorienting Look at Euler's Theorem on the Axis of a Rotation" even if I am a joint author, particularly if I admit that none of the authors thought up the cute title---it was the editor. (The cute part is the somewhat subtle use of "disorienting", namely we prove Euler's Theorem for orthogonal transformations that are not proper---i.e., don't preserve orientation.) You can download it here:
http://mathdl.maa.org/mathDL/?pa=content&sa=viewDocument&nodeId=3542&pf=1
