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y^2+z^2 & -xy & -xz \\ -y x & x^2+z^2 & -yz \\ -zx & -zy & x^2+y^2 \end{bmatrix}.</math>
This product can be computed using the matrix formed by the outer product ['''R''' '''R'''<sup>T</sup>] using the
:<math> -[R]^2 = |\mathbf{R}|^2[E_3] -[\mathbf{R}\mathbf{R}^T]=
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