Let $\mathbf{a}, \mathbf{b}, \mathbf{c}$ be vectors in the space $\mathbb{E}^3$. Then it’s easy to check by calculation that the following equation holds: $$\mathbf{a}\times (\mathbf{b}\times \mathbf{c})=(\mathbf{a}\cdot \mathbf{c}) \mathbf{b}-(\mathbf{a}\cdot \mathbf{b}) \mathbf{c}.$$
However, the textbook says the equation can be explained geometrically, and I wonder how. All that has come to me so far is that the vector $\mathbf{a}\times (\mathbf{b}\times \mathbf{c})$ lies on the plane spanned by $\mathbf{b},\mathbf{c}$ (given that they are not parallel), but what exactly can represent the double cross product geometrically? Please help.