Generalized Quaternion and Rotation in 3-Space EM. Jafari, Y. Yayli (pp. 224-232)
The paper explains how a unit generalized quaternion is used to represent a rotation of a vector in 3-dimensional E3 ®¯ space. We review of some algebraic properties of generalized quaternions and operations between them and then show their relation with the rotation matrix.
generalized quaternion, quasi-orthogonal matrix, rotation.