Closed form for the Stirling numbers of the second kind.

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I have realized through inspection that ${n \brace 2}=2^{n-1}-1$ and I have figured out with the help of Pedro Tamaroff that ${n \brace 3}=\frac{1}{6}(3^{n}-3\cdot2^n+3)$. For what other values of $k$ can we do a similar characterization of ${n \brace k}$? can we do it for all positive integers?

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Hint: taken with an appropriate index, the Stirling numbers of the second kind form the exponential Riordan array $[1, e^x - 1]$. (See e.g. P. Barry, Generalized Stirling Numbers, Exponential Riordan Arrays, and Toda Chain Equations, Journal of Integer Sequences, 17 (2014)).