" 
 : There is no way to 'avoid the problem'. Rotations in three dimensions (and higher) are generally non-commutative and so all rotation representations have to handle this. If it doesn't then it's not a proper rotation representation. As noted above this rotation representation is already covered at Axis-angle representation, without the errors or other issues with this article. Unless it's established how this is different it should be merged with that article. "