Consider unit quaternion q [0 -1 -2 -2] (a) For the rotation given by q, find all pairs of [0,7] corresponding to its rotation angle - < 0 < and its rotation axis generated by unit vector 7. (b) Find the rotation matrix corresponding to q. Consider unit quaternion q [0 -1 -2 -2] (a) For the rotation given by q, find all pairs of [0,7] corresponding to its rotation angle - < 0 < and its rotation axis generated by unit vector 7. (b) Find the rotation matrix corresponding to q.