%0 Journal Article
%T Rotations in three, four, and five dimensions
%A Jason Hanson
%J Mathematics
%D 2011
%I arXiv
%X The geometry of rotations in dimensions 3, 4, and 5 is discussed using the matrix exponential map. Explicit closed formulas for the exponential of an antisymmetric matrix, as well as the logarithm of a rotation, are given for these dimensions.
%U http://arxiv.org/abs/1103.5263v1