diff --git a/doc/LieGroups.lyx b/doc/LieGroups.lyx
index bc3fb97801..01bc1932f1 100644
--- a/doc/LieGroups.lyx
+++ b/doc/LieGroups.lyx
@@ -2452,7 +2452,7 @@ First transform
 , and then rotate back:
 \begin_inset Formula 
 \[
-q=Re^{\Skew{\omega}}R^{T}
+q=Re^{\Skew{\omega}}R^{T}p
 \]
 
 \end_inset
diff --git a/doc/LieGroups.pdf b/doc/LieGroups.pdf
index 24f87019cd..f49da7029c 100644
Binary files a/doc/LieGroups.pdf and b/doc/LieGroups.pdf differ