The exponential map of a nilpotent Lie algebra is a diffeomorphism between the Lie algebra and the unique associated connected, simply-connected Lie group.
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These also generate rotations through the exponential map, but instead of trigonometric functions, hyperbolic functions are needed, which generates a rotor as follows:
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In the tangent space at any point on a quaternion Slerp curve, the inverse of the exponential map transforms the curve into a line segment.
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Over the real numbers ( or more generally any field of characteristic 0 ) the exponential map takes any nilpotent square matrix to a unipotent matrix.
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Only one quarter of this plane is the image of the exponential map, so the logarithm is only defined on that quarter ( quadrant ).
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That is to say, the starting point p \ in H goes to the tangent plane from H through the inverse of the exponential map.
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:I'd guess the OP wants something for binomials like the exponential map formula for Lie groups, but that's fairly hairy.
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The exponential map is onto in each case, since the polynomial function lies in a given Lie subalgebra if and do and are sufficiently small.
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For an alternative derivation based on this exponential relationship, see Axis angle representation # Exponential map from so ( 3 ) to SO ( 3 ).
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Then travels from one tangent plane to the other through the isometry \ psi, and then down to the surface S'with another exponential map.
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