An Elementary Treatise on Quaternions

angle application axes axis becomes Cambridge centre Chapter circle condition cone conjugate constant contains course curvature curve definite determine differential direction drawn easily element Eliminating ellipsoid envelop equal equation equivalent evidently example expression extremity fact factors fixed formula function given gives Hamilton Hence integral intersection involves length locus means multiplied normal obtain obviously once Operating origin parallel particular pass perpendicular plane positive proof properties prove quaternion radius rectangular referred represents respectively result right angles rotation Saß satisfied scalar second order seen shew sides similar Similarly simple solution space sphere spherical student suppose surface tangent plane tensor theorem tion transformation triangle unit-vector vector vector function versor write written