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Mar 3, 2012 at 19:12 vote accept Peter J.C. Dickinson
Mar 2, 2012 at 20:55 comment added Liviu Nicolaescu That was my answer as well. I would also recommend Weyl's gem, The Classical Groups. Their Invariants and Representations. He has a whole section devoted to the Cayley parameterization. (Chap. II. Sec II)
Mar 2, 2012 at 20:43 history answered Igor Rivin CC BY-SA 3.0