Is there a theorem or a known property of a rotation matrix $R(\theta)$ that $$\left( \frac{d}{d\theta}R(\theta)\right)R(-\theta)$$
Gives something "nice"? I see I'm always getting an off diagonal matrix, for example $$\begin{pmatrix}0 & -1\\\ 1 & 0\end{pmatrix}$$ for two dimensional rotations... but I can't see why it has this property