Past exam of the mathematics course of the year 1 of the natural sciences course of the University of Cambridge / 2007 / Paper 1 / Section B / 1 / c / Solution

The displayed power series is the matrix exponential $G=e^H$. From $H^3=-{\alpha }^{2}H$, its odd powers and nonconstant even powers sum separately:The scalar power series are $\sin \alpha /\alpha$ and $(1-\cos \alpha )/{\alpha }^2$, with continuous values $1$ and $1/2$ at zero. Substituting $H\mathbf{x}=\alpha \mathbf{n}\times \mathbf{x}$ and the preceding formula for $H^2\mathbf{x}$ yieldsThis is the Rodrigues rotation formula: the component parallel to $\mathbf{n}$ is fixed, while the perpendicular component undergoes a rotation through $\alpha$. For $\alpha =0$ the linear operator is the identity operator.