 $$\begin{array}{l} \left( g_{+}\left( x,y,z\right) ,x_{0}e_{0}+x_{0}e_{0}+x_{0}e_{0}\right) ^{\left( g_{-}\left( p,q,\theta \right) ,x_{0}e_{0}+x_{0}e_{0}+x_{0}e_{0}\right) } \\  ~=\left( g_{+}\left( x\cos \theta +y\sin \theta ,y\cos \theta -x\sin \theta ,z\right) \