Using the system (1.4) in Theorem 1.1, we present in Section 3 a new way to derive the Rodrigues formula for the exponential map of the Lorentz group 
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A new way to derive the Rodrigues formula for the Lorentz group
Andrica, Dorin and Rohan, Ramona-Andreea
Abstract
carpathian_2014_30_1_023_029_abstract
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