# Getting Some Intuition for Matrix Exponentials

In a recent post, we talked about some fundamental mathematical operations presented in a robotics textbook written by Murray, Li and Sastry. One of these operations was a **matrix exponential**, which was unfamiliar to me. It turns out that matrix exponentials are a really cool idea that appear in lots of fields of science and engineering. Thanks to a fabulous video by 3Blue1Brown [1], I am going to present some of the basic concepts behind matrix exponentials and why they are useful in robotics when we are writing down the kinematics and dynamics of a robot.