A point C on the screw axis satisfies the equation:
Solve this equation for C using Cayley's formula for a rotation matrix
where [B] is the skew-symmetric matrix constructed from Rodrigues' vector
such that
Use this form of the rotation A to obtain
which becomes
This equation can be solved for C on the screw axis P(t) to obtain,
The screw axis  of this spatial displacement has the Plücker coordinates .