def AxisAng3(expc3):
    """Converts a 3-vector of exponential coordinates for rotation into
    axis-angle form
    :param expc3: A 3-vector of exponential coordinates for rotation
    :return omghat: A unit rotation axis
    :return theta: The corresponding rotation angle
    Example Input:
        expc3 = np.array([1, 2, 3])
    Output:
        (np.array([0.26726124, 0.53452248, 0.80178373]), 3.7416573867739413)
    """
    return (expc3.normalized(), expc3.norm())