BIT Numerical Mathematics

, Volume 41, Issue 3, pp 629–632 | Cite as

On the BCH-formula in so(3)

  • Kenth Engø


We find local closed-form expression for the Baker—Campbell—Hausdorff formula in the Lie algebra so(3), and interpret the formula geometrically in terms of rotation vectors in ℝ3.

Baker-Campbell-Hausdorff formula Lie algebra so(3) rotations in ℝ3 


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    J. E. Marsden and T. S. Ratiu, Introduction to Mechanics and Symmetry, no. 17 in Texts in Applied Mathematics, Springer-Verlag, 2nd ed., 1999.Google Scholar
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    V. S. Varadarajan, Lie Groups, Lie Algebras, and Their Representations, GTM 102, Springer-Verlag, 1984.Google Scholar

Copyright information

© Swets & Zeitlinger 2001

Authors and Affiliations

  • Kenth Engø
    • 1
  1. 1.Department of InformaticsUniversity of BergenBergenNorway

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