Ex5 20

$\def\abs#1{|#1|}\def\i{\mathbf {i}}\def\ket#1{|{#1}\rangle}\def\bra#1{\langle{#1}|}\def\braket#1#2{\langle{#1}|{#2}\rangle}\def\tr{\mathord{\mbox{tr}}}\mathbf{Exercise\ 5.20}$

Show that the set of rotations about any two distinct axes of the Bloch sphere generate all single-qubit transformations (up to global phase).