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ON THE MAGIC MATRIX BY MAKHLIN AND THE B-C-H FORMULA IN SO(4)
A closed expression to the Baker–Campbell–Hausdorff (B-C-H) formula in SO(4) is given by making use of the magic matrix by Makhlin. As far as we know this is the first nontrivial example on (semi–) simple Lie groups summing up all terms in the B-C-H expansion.