Using the identity $ \mathbf{a} \times (\mathbf{v} \times \mathbf{a}) = (\mathbf{a} \cdot \mathbf{a})\mathbf{v} - (\mathbf{a} \cdot \mathbf{v})\mathbf{a} $, and since $ \mathbf{a} \cdot \mathbf{v} = 0 $, this becomes:

Using the identity $ \mathbf{a} \times (\mathbf{v} \times \mathbf{a}) = (\mathbf{a} \cdot \mathbf{a})\mathbf{v} - (\mathbf{a} \cdot \mathbf{v})\mathbf{a} $, and since $ \mathbf{a} \cdot \mathbf{v} = 0 $, this becomes:

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