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commutators; flows; vector fields
The well known formula $[X,Y]=\tfrac{1}{2}\tfrac{\partial ^2}{\partial t^2}|_0 (^Y_{-t}ø^X_{-t}ø^Y_tø^X_t)$ for vector fields $X$, $Y$ is generalized to arbitrary bracket expressions and arbitrary curves of local diffeomorphisms.
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