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Valdenebro, Angel G. (2016). "Visualizing rotations and compositions of rotations with the Rodrigues vector". Eur. J. Phys. 37 (6) 065001. arXiv:1607.05999. doi:10.1088/0143-0807/37/6/065001., eq. (2)
E. Pennestrì, P.P. Valentini, G. Figliolini, J. Angeles (2016), "Dual Cayley–Klein parameters and Möbius transform: Theory and applications", Mechanism and Machine Theory106(January):50-67. doi:10.1016/j.mechmachtheory.2016.08.008. pdf available via ResearchGate
E. Pennestrì, P.P. Valentini, G. Figliolini, J. Angeles (2016), "Dual Cayley–Klein parameters and Möbius transform: Theory and applications", Mechanism and Machine Theory106(January):50-67. doi:10.1016/j.mechmachtheory.2016.08.008. pdf available via ResearchGate