Base unit (measurement) aspects of the world, such as time, distance, velocity, mass, temperature, energy, and weight, and "units" are used to describe their magnitude or quantity. Many of these quantities are related to each other by various physical laws, and as a result the units of a quantities can be generally be expressed as a product of powers of other units; for example, momentum is mass multiplied by velocity, while velocity is measured in distance divided by time. These relationships are discussed in dimensional analysis. Those that can be expressed in this fashion in terms of the base units are called .
Cross product The cross product with n therefore describes the infinitesimal generator of the rotations about n. These infinitesimal generators form the Lie algebra so(3) of the rotation group SO(3), and we obtain the result that the Lie algebra R with cross product is isomorphic to the Lie algebra so(3). The vector cross product also can be expressed as the product of a skew-symmetric matrix and a vector: where superscript refers to the transpose operation, and [a] is defined by: The columns [a] of the skew-symmetric matrix for a vector a can be also obtained by calculating the cross product with unit