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The section "Exponential of Ω" correctly states that any time-dependent rotation matrix ${\displaystyle A(t)}$ satisfies ${\displaystyle {\tfrac {\mathrm {d} A}{\mathrm {d} t}}=\Omega A}$. If ${\displaystyle \Omega }$ is constant, integration yields ${\displaystyle A(t)=\mathrm {e} ^{\Omega t}A(0)}$. The article currently uses the symbol ${\displaystyle W}$ in the exponent, which is not defined anywhere (likely a typo). 134.2.173.10 ( talk) 19:56, 22 January 2024 (UTC) reply