Rodrigues' Rotation Formula (with application to Robotics)

http://mathworld.wolfram.com/RodriguesRotationFormula.html

https://en.wikipedia.org/wiki/Rodrigues'_rotation_formula 

https://en.wikipedia.org/wiki/Rodrigues'_formula

http://www.sciencedirect.com/science/article/pii/S0094114X09001372 

http://www.sciencedirect.com/science/article/pii/S0094114X0500087X 

http://www.sciencedirect.com/science/article/pii/S0094114X15000415 

http://www.cs.cmu.edu/afs/cs/academic/class/16741-s07/www/Lecture7.pdf 

http://www.physicspages.com/2012/07/22/hermite-polynomials-the-rodrigues-formula/ 

http://www.phys.ufl.edu/~fry/6346/legendre.pdf 

http://www.ams.org/journals/tran/1965-115-00/S0002-9947-1965-0199460-7/S0002-9947-1965-0199460-7.pdf 

http://www.nbi.dk/~polesen/borel/node4.html  https://www.youtube.com/watch?v=jtD2rhkXnGU