We address a problem that extends a fundamental classical result of continuum mechanics from the time of its inception, as well as answers a fundamental question in the recent, modern nonlinear elastic theory of dislocations. Interestingly, the implication of our result in the latter case is qualitatively different from its well-established analog in the linear elastic theory of dislocations. It is a classical result that if $$u\in C^2({\mathbb {R}}^n;{\mathbb {R}}^n)$$
u
∈
C
2
(
R
n
;
R
n
)
and $$\nabla u \in SO(n)$$
∇
u
∈
S
O
(
n
)
, it follows that u is rigid. In this article this result is generalized to matrix fields with non-vanishing $${\text {curl }}$$
curl
. It is shown that every matrix field $$R\in C^2(\varOmega ;SO(3))$$
R
∈
C
2
(
Ω
;
S
O
(
3
)
)
such that $${\text {curl }}R = constant$$
curl
R
=
c
o
n
s
t
a
n
t
is necessarily constant. Moreover, it is proved in arbitrary dimensions that a measurable rotation field is as regular as its distributional $${\text {curl }}$$
curl
allows. In particular, a measurable matrix field $$R: \varOmega \rightarrow SO(n)$$
R
:
Ω
→
S
O
(
n
)
, whose $${\text {curl }}$$
curl
in the sense of distributions is smooth, is also smooth.