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    $\begingroup$ All this back and forth could take us sideways (e.g. Lie bracket !=0, so we can parallel park our cars). $\endgroup$ Commented Oct 7, 2015 at 16:08
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    $\begingroup$ Hey, what took you so long? You used to be faster, hehe. +1 anyway $\endgroup$ Commented Oct 7, 2015 at 19:00