Example 4:The exponential map of SO(3) We have seen in Ex.3 that R ˙ = R [ ω ] × ∈ T R S O ( 3 ) . \dot R = R [ω]_× ∈ T_RSO(3). R˙=R[ω]×​∈TR​SO(3). For ω constant, this is an ordinary differential e