ANDRICA, Dorin, and Oana Liliana CHENDER. 2015. “Rodrigues Formula for the Cayley Transform of Groups SO(n) and SE(n)”. Studia Universitatis Babeș-Bolyai Mathematica 60 (1):31-38. https://studia.reviste.ubbcluj.ro/index.php/subbmathematica/article/view/5657.