(1) Verify Eq. (12.4.2) by first constructing the 3×3 matrices corresponding to R(ε,i) and R(ε,j), to order ε.
(2) Provide the steps connecting Eqs. (12.4.3) and (12.4.4a).
(3) Verify that Lx and Ly defined in Eq. (12.4.1) satisfy Eq. (12.4.4a). The proof for other commutators follows by cyclic permutation.