So is there some elegant way to do this or am I just supposed to follow my nose and sub the Taylor expansions for terms in the two boost matrices under the assumption ##v,w\ll 1##, then do three ugly matrix multiplications and get some horrifying kludge for ##R## and show that the product of ##R## and its transpose is the identity matrix with det(R)=1?
Without loss of generality I made ##\mathbf{v}## point along the x-axis and since ##\mathbf{v}\cdot\mathbf{w} = 0## I set ##w_1 = 0## to...