U[t_]:=MatrixExp[t(({{0, 1, 0}, {0, 0, 0}, {0, 0, 0}}))]; V[s_]:=MatrixExp[s(({{0, 0, 0}, {0, 0, 1}, {0, 0, 0}}))]; W[w_]:=MatrixExp[w(({{0, 0, 1}, {0, 0, 0}, {0, 0, 0}}))]

MatrixForm /@ {U[t], V[s], W[w]}

U[t].V[s].U[-t].V[-s]//MatrixForm