Rodrigues' rotation formula

For a real angle $\alpha$ and a unit vector $\mathbf{n}$, the rotation about $\mathbf{n}$ sendsThe vector triple product identity gives the equivalent expression $\mathbf{x}+\sin \alpha \mathbf{n}\times \mathbf{x}+(1-\cos \alpha )\mathbf{n}\times (\mathbf{n}\times \mathbf{x})$. To see why it is a rotation, decompose $\mathbf{x}$ into its parallel and perpendicular components relative to $\mathbf{n}$. The parallel component is fixed, while the perpendicular component becomes $\cos \alpha {\mathbf{x}}_{\perp }+\sin \alpha \mathbf{n}\times {\mathbf{x}}_{\perp }$, the usual plane rotation. It is also the matrix exponential of the linear operator $H\mathbf{x}=\alpha \mathbf{n}\times \mathbf{x}$: the identity $H^3=-{\alpha }^{2}H$ reduces its exponential series to these three terms.