The rotation operator can be derived from examining an infinitesimal rotation
 |
where 
is the time derivative, 
is the angular velocity,
and 
is the cross product operator.
Rotation Operator
See also
Acceleration, Angular Acceleration, Infinitesimal RotationExplore with Wolfram|Alpha
Cite this as:
Weisstein, Eric W. "Rotation Operator." From MathWorld--A Wolfram Web Resource. https://mathworld.wolfram.com/RotationOperator.html