Should have mentioned that R is an element of SO(3)
This seems like it should be easy, but I don't know the verbiage to search for a method to learn. I am attempting to expand a vector two norm of a vector equation.
R is a 3x3 matrix
p is a 3x1 vector
t is a 3x1 vector
q is a 3x1 vector
The first step is knowing that the above equals: