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Taylor's theorem for embedded manifolds

For an embedded Riemannian manifold $M \subseteq \mathbb{R}^m$ and a point $x \in M$, there is a series expansion (page 8 of Monera's paper): $$\exp_x(t v) = x + t J_x(v) + \frac{t^2}{2!} Q_x(v) + \c …
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