Skew-symmetric exponential as an axial rotation ($e^A\in \mathrm{SO}(3)(A^T=-A)$)

For a nonzero real three-dimensional skew-symmetric matrix, choose real orthogonal vectors $u,v$ of equal length with $Au=\theta v$, $Av=-\theta u$ and $\theta >0$, and a real unit vector $e_3$ in its kernel. The matrix exponential acts by $e^{A}u=u\cos \theta +v\sin \theta$, $e^{A}v=v\cos \theta -u\sin \theta$ and $e^A{e}_3=e_3$. Its matrix in this orthonormal basis is a planar rotation matrix with an unchanged axis. A purely imaginary nonzero eigenvalue and its complex eigenvector give $u,v$ by taking real and imaginary parts; antisymmetry proves their equal norms and orthogonality.