As an alternative to plugging values into [[0,-c,b],[c,0,-a],[-b,a,0]], i tried using numpy operations. This is very slightly faster than the above.
def skew(v):
if len(v) == 4: v = v[:3]/v[3]
skv = roll(roll(diag(v.flatten()), 1, 1), -1, 0)
return skv - skv.T