The article also explains that the natural way to look at this property is in terms of matrix exponentials/logarithm. The space of rotation matrices is not a l

The article also explains that the natural way to look at this property is in terms of matrix exponentials/logarithm. The space of rotation matrices is not a linear space. It's obvious that interpolation is meaningless there. The space of skew symmetric matrices is linear, so you can interpolate the generators of rotations naturally. Without this perspective, how do you even begin to understand what this interpolation does or what it actually means?