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lieg07.pdf
lieg07.pdf
http://www.staff.science.uu.nl/~hooft101/lectures/lieg07.pdf
Baker–Campbell–Hausdorff formula
Derivative of the exponential map
Link from a Wikipage to an external page
lieg07.pdf
http://www.staff.science.uu.nl/~hooft101/lectures/lieg07.pdf