  We derive an explicit form for the Cucker-Smale (CS) model on the special
orthogonal group $\mathrm{SO}(3)$ by identifying closed form expressions for
geometric quantities such as covariant derivative and parallel transport in
exponential coordinates. We study the emergent dynamics of the model by using a
Lyapunov functional approach and La Salle's invariance principle. Specifically,
we show that velocity alignment emerges from some admissible class of initial
data, under suitable assumptions on the communication weight function. We
characterize the $\omega$-limit set of the dynamical system and identify a
dichotomy in the asymptotic behavior of solutions. Several numerical examples
are provided to support the analytical results.
