Lagrange's Formula

Theorem
Let:


 * $\mathbf a = \begin{bmatrix} a_x \\ a_y \\ a_z \end{bmatrix}$, $\mathbf b = \begin{bmatrix} b_x \\ b_y \\ b_z \end{bmatrix}$, $\mathbf c = \begin{bmatrix} c_x \\ c_y \\ c_z \end{bmatrix}$

be vectors in a vector space of $3$ dimensions.

Then:


 * $\mathbf a \times \paren {\mathbf b \times \mathbf c} = \paren {\mathbf a \cdot \mathbf c} \mathbf b - \paren {\mathbf a \cdot \mathbf b} \mathbf c$