(ωΩ) = ω₁Ω₁ + ω₂Ω₂ + ω₃Ω₃ + ω₄Ω₄ = 0, (which we can write as Ω₄ = _i_(ω_{x}Ω₁ + ω_{y}Ω₂ + ω_{z}Ω₃) and Ω is also normal to ω. In case ω = 0, we have Φ₄ = 0, ψ₄ = 0, Ω₄ = 0, and [Ω₁, Ω₂, Ω₃ = | Φ₁ Φ₂ Φ₃ | |ψ₁ ψ₂ ψ₃ |.