Suppose A is a 3×3 skew-symmetric matrix. Let B=(I+A)−1(I−A). Then
B is orthogonal
B is skew symmetric
B2 = O
B is a diagonal matrix
We have
BB′=(I+A)−1(I−A)(I+A)−1(I−A)′=(I+A)−1(I−A)(I−A)′(I+A)′−1=(I+A)−1(I−A)(I+A)(I−A)−1
∵ A′=−A
=(I+A)−1(I+A)(I−A)(I−A)−1
[I+A and I-Acommute]
= (I) (I) = I
Thus, B is orthogonal.