This is Rodrigues formula for the screw axis of a composite displacement defined in terms of the screw axes of the two displacements.
2.
Rodrigues is remembered for three results : Rodrigues'rotation formula for vectors, the Rodrigues formula about series of orthogonal polynomials and the Euler Rodrigues parameters.
3.
The Rodrigues formula ( named after Olinde Rodrigues ), a method of calculating the position of a rotated point, is used in some software applications, such as flight simulators and computer games.
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Similar formulae hold for many other sequences of orthogonal functions arising from Sturm-Liouville equations, and these are also called the Rodrigues formula for that case, especially when the resulting sequence is polynomial.
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