[badosu]

I had a hard time trying to parse something understandable from the article.

This is what I got from it (I'd be happy to hear someone informed correcting me/confirming). (excerpt from a discussion yesterday I had with some friends not too math inclined)

What it seems to be the articles claim is that, you could define a scaling operation in the angles you performed, finding some constant scaling factor (say alpha) and running the operation twice to reach the identity (rotation 0 compared to baseline), e.g.:

I = R ⊕ (α.R ⊕ α.R)

In their example that would be something like (with alpha=0.3):

I = (rad(75).X ⊕ rad(20).Y ⊕ ...) ⊕ (rad(0.3x75).X ⊕ rad(0.3x20).Y ⊕ ...) ⊕ (rad(0.3x75).X ⊕ rad(0.3x20).Y ⊕ ...)

Remembering that our rotation action is non-commutative, e.g. `aX ⊕ bY != bY ⊕ aX`.