I am reading some papers involve some matrix computations on $SO(3)$, I want to know how to compute the matrix logarithm/exponential in the Riemannian logarithm/exponential of $SO(3)$: $$\log _A(B)= A \log \left(A^{\top} B\right)$$, $$Exp_A(V)= A \exp \left(A^{\top} V\right)$$ where $A,B \in SO(3)$, and $A^\top V$ is skrew symmetric.
Is there any reference I can refer to?