We show how to practically implement the use of quaternions to describe the algebra of rotations of three dimensional space. The key idea is to use the notion of half-turn [or half-slope--I have changed terminology since this video was made!] instead of angle: this is well suited to connect with the lovely algebraic structure of quaternions.
The theory of half turns is interesting in its own right, and belongs to what we call Vector Trigonometry--an interesting variant of Rational Trigonometry that we intend to describe in detail elsewhere. Here we only need a few formulas for half turns, which really go back to the ancient Greeks and the rational parametrization of the unit circle which we have discussed many times!
By focussing on the formula for quaternion multiplication in terms of scalar and vector parts, we can deduce that any orthonormal set of vectors u,v and w act algebraically just like the familiar unit vectors l,j and k. That allows us to decompose the multiplication of a general quaternion into its action on two perpendicular planes: this is the key to understanding the geometry of quaternion multiplication.
It allows us to easily see the effect of multiplying on the left by q and on the right be the conjugate. After a normalization by the quadrance of q, we get a rotation of the vector part of the space, which is the connection with rotations that we seek.
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Screenshot PDFs for my videos are available at the website http://wildegg.com. These give you a concise overview of the contents of the lectures for various Playlists: great for review, study and summary.
My research papers can be found at my Research Gate page, at https://www.researchgate.net/profile/Norman_Wildberger
My blog is at http://njwildberger.com/, where I will discuss lots of foundational issues, along with other things.
Online courses will be developed at openlearning.com. The first one, already underway is Algebraic Calculus One at https://www.openlearning.com/courses/algebraic-calculus-one/ Please join us for an exciting new approach to one of mathematics' most important subjects!
If you would like to support these new initiatives for mathematics education and research, please consider becoming a Patron of this Channel at https://www.patreon.com/njwildberger Your support would be much appreciated.
Here are the Insights into Mathematics Playlists:
https://www.youtube.com/playlist?list=PL55C7C83781CF4316
https://www.youtube.com/playlist?list=PL3C58498718451C47
https://www.youtube.com/playlist?list=PL5A714C94D40392AB
https://www.youtube.com/playlist?list=PLIljB45xT85BhzJ-oWNug1YtUjfWp1qAp
https://www.youtube.com/playlist?list=PLIljB45xT85Bfc-S4WHvTIM7E-ir3nAOf
https://www.youtube.com/playlist?list=PLIljB45xT85D94vHAB8joyFTH4dmVJ_Fw
https://www.youtube.com/playlist?list=PL8403C2F0C89B1333
https://www.youtube.com/playlist?list=PLIljB45xT85CcGpZpO542YLPeDIf1jqXK
https://www.youtube.com/playlist?list=PLIljB45xT85Aqe2b4FBWUGJdYROT6-o4e
https://www.youtube.com/playlist?list=PLIljB45xT85DB7CzoFWvA920NES3g8tJH
https://www.youtube.com/playlist?list=PLIljB45xT85A-qCypcmZqRvaS1pGXpTua
https://www.youtube.com/playlist?list=PLIljB45xT85DH__ZzGQWQrVRxlbKh-Nsa
https://www.youtube.com/playlist?list=PLIljB45xT85CdeBmQZ2QiCEnPQn5KQ6ov
https://www.youtube.com/playlist?list=PLIljB45xT85AMigTyprOuf__daeklnLse
https://www.youtube.com/playlist?list=PLIljB45xT85CnIGIWb7tH1F_S2PyOC8rb
https://www.youtube.com/playlist?list=PLIljB45xT85CN9oJ4gYkuSQQhAtpIucuI
https://www.youtube.com/playlist?list=PLIljB45xT85DWUiFYYGqJVtfnkUFWkKtP
https://www.youtube.com/playlist?list=PL6763F57A61FE6FE8
https://www.youtube.com/playlist?list=PLBF39AFBBC3FB30AF
https://www.youtube.com/playlist?list=PLIljB45xT85DSrlV6NX8RMBksZhdTHtwW
https://www.youtube.com/playlist?list=PLIljB45xT85Bmcc9ksBOAKgIZAl0BwPg7
Here are the Wild Egg Maths Playlists (some available only to Members!)
https://www.youtube.com/playlist?list=PLzdiPTrEWyz4rKFN541wFKvKPSg5Ea6XB
https://www.youtube.com/playlist?list=PLzdiPTrEWyz4VlOppC5CN0D0GjrjvBGKy
https://www.youtube.com/playlist?list=PLzdiPTrEWyz5VLVr-0LPPgm4T1mtU_DG-
https://www.youtube.com/playlist?list=PLzdiPTrEWyz6zpIZ4Y_RK9zyJ9OufqNJv
https://www.youtube.com/playlist?list=PLzdiPTrEWyz7hk_Kzj4zDF_kUXBCtiGn6
https://www.youtube.com/playlist?list=PLzdiPTrEWyz5j1BJdXBw1MFst_nQAqzZ_
https://www.youtube.com/playlist?list=PLzdiPTrEWyz5HWgaVkhIwpGVKi6fciRxW
https://www.youtube.com/playlist?list=PLzdiPTrEWyz5HBT_Yo1G4DfeqUfI9zkKM
https://www.youtube.com/playlist?list=PLzdiPTrEWyz7LKbuJAHaXAhRj2ylD0OoX
https://www.youtube.com/playlist?list=PLzdiPTrEWyz6VcJQ5xcuqY6g4DWjvpmjM
https://www.youtube.com/playlist?list=PLzdiPTrEWyz6MwUTOHRgC0oIxVtaHGQBd
https://www.youtube.com/playlist?list=PLzdiPTrEWyz4KD007Ge10dfrDVc4YwlYS
https://www.youtube.com/playlist?list=PLzdiPTrEWyz4IknbwXMEVwxOWS3z1Ch3C
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