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https://en.wikibooks.org/wiki/Abstract_Algebra/Quaternions or https://books.google.ie/books?id=ouvZKQiykf4C&pg=PA98&lpg=PA...

I am from Dublin, where quaternions were invented, so they get mentioned a lot by mathematicians and physicists here, maybe getting a higher billing than they do elsewhere. Computer graphics is obviously a place to go for introductions also, but it is typically going to be a more applied and less rigorous treatment.




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