Rotations Quaternions And Double Groups Dover Books On Mathematics -

quaternion from wolfram mathworld - the quaternions are members of a noncommutative division algebra first invented by william rowan hamilton the idea for quaternions occurred to him while he was walking along the royal canal on his way to a meeting of the irish academy and hamilton was so pleased with his discovery that he scratched the fundamental formula of quaternion algebra i 2 j 2 k 2 ijk 1 1 into the stone of the