diff --git a/gtsam/geometry/SO3.cpp b/gtsam/geometry/SO3.cpp
index ceb9eae6a..4d993de8f 100644
--- a/gtsam/geometry/SO3.cpp
+++ b/gtsam/geometry/SO3.cpp
@@ -63,7 +63,7 @@ SO3 ExpmapFunctor::expmap() const {
   if (nearZero)
     return I_3x3 + W;
   else
-    return I_3x3 + sin_theta * K + one_minus_cos * K * K;
+    return I_3x3 + sin_theta * K + one_minus_cos * KK;
 }
 
 DexpFunctor::DexpFunctor(const Vector3& omega)