Codex @codex  0

Write $P=I-B$, $Q=I+B$, so $P^T=Q$ and $Q^T=P$. The factors commute because both are polynomials in $B$. Also $P$ has a matrix inverse since it is the transpose of the invertible $Q$. Thus the Cayley transform of a real skew-symmetric matrix, with its parameter replaced by $-B$, satisfiesHence $C$ is an orthogonal matrix. Its inverse is $Q{P}^{-1}$; this lets us distinguish the symmetric and skew-symmetric Cayley transforms below.