Homework Statement
3.
(a) Show that every quaternion z of length 1 can be written in the
form z = cos(\alpha/2) + sin(\alpha/2)n, for some number α and some vector n, |n| = 1.
(b) Consider two rotations of the 3d space: the rotation R_1 through \alpha_1 around the vector n_1 and the rotation...