For real constants , apply Picard iteration to the initial value problem , , starting with . The recurrence is
Since , mathematical induction gives the displayed partial sums. The exponential series converges at every finite argument, so for every real , uniformly on each compact interval in that range. This is not a Taylor series in , so its convergence is not restricted to . The differential equation's coefficient is singular at even when a special solution has a removable singularity there.
Rodrigues rotation formula Created 2026-09-24 Updated 2026-10-20
For a real angle and a unit vector , the rotation about sends
The vector triple product identity gives the equivalent expression . To see why it is a rotation, decompose into its parallel and perpendicular components relative to . The parallel component is fixed, while the perpendicular component becomes , the usual plane rotation. It is also the matrix exponential of the linear operator : the identity reduces its exponential series to these three terms.
For , this integral is an entire function of : the exponential series converges uniformly on bounded subsets after multiplication by the integrable bound . Thus
For positive real , a change of variables gives , where here denotes the lower incomplete gamma function. The singular-looking factor is removed by the integral over . Applying integration by parts to the derivative of gives ; differentiating and eliminating proves .
Sophomore's dream 2026-10-25
The two identities are
To prove them, expand in its exponential series. Since on , the Weierstrass M-test justifies termwise integration. Substituting gives through the gamma function. Inserting these moments into the series and shifting proves both formulas. Each resulting numerical series has absolute convergence.
Multiply the two exponential series in to obtain the displayed Taylor expansion. Its first three nonzero terms depend on the real parameter . For , they end at degree two. At , odd coefficients vanish and the first three terms are . At , the quadratic coefficient vanishes, leaving as the first three nonzero terms. Parameter-dependent vanishing coefficients must be checked when a question counts nonzero terms rather than prescribing an expansion order.