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7 votes

Rasmussen Equation 5.9

It is due to the cyclic property of the trace: $$\mathrm{tr}ABC = \mathrm{tr}BCA = \mathrm{tr}CAB$$ Substituting $A = \alpha^T$, $B = dK/d\theta_j$, and $C = \alpha$, and performing the rotation above ...
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