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7) Rotations with Quaternions ab=(awbwab,awb+bwa+ab)i2=j2=k2=ijk=1a1=a21(aw,a)=1: Rotation around axis ||r=1 : q=(cos2,sin2r) rotate a point p=(0,px,py,pz) around the axis r by : p=qpq1

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