Question: Show that C= e-ca* where (a, ) are the Euler axis/angle variables. (This result is not a kinemat- ical one but there is an

Show that C= e-ca* where (a, ) are the Euler axis/angle variables.

Show that C= e-ca* where (a, ) are the Euler axis/angle variables. (This result is not a kinemat- ical one but there is an elegant proof that does involve kinematics.)

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