Remake Quaternions

That said when quaternions are used in geometry, it is more convenient to define them as a scalar plus a vector.

An equivalent definition of Quaternion ( $R^3$ means 3D euclidean real vector space):

$$Q=\{q=<s,v>|s \in R, v \in R^3\}$$
1. $\quad<s,\vec0>=s \quad \Rightarrow \quad R\subseteq Q$
2. $\quad<0,v>=v \quad \Rightarrow \quad R^3\subseteq Q$
3. $\quad \therefore \quad <0,\vec0>=0=\vec0$

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Binary Operation $+: Q\times Q \rightarrow Q$

<a,u>+<b,v>=<a+b,u+v>

<script type="math/tex; mode=display" id="MathJax-Element-30"> + = </script>
1. $\quad s + v = <s,\vec0> + <0,v> = <s,v>$
$$\therefore \; Q=\{q=s+v|s \in R, v \in R^3\}$$
2. $\quad <a,u> + <b,v> = <b,v> + <a,u>$
$$\therefore \; s+v=v+s=<s,v>$$
3. $\quad (Q;+)$ is an Abelian Group.

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Binary Operation $\circ$ : $Q\times Q \rightarrow Q$

$$\begin{align} (a+u)\circ(b+v)&=a\circ (b+v) + u\circ (b+v) \\ &= a\circ b + a \circ v + u\circ b + u\circ v \\ &=ab + av + bu + u \times v - u \cdot v \\ &=ab - u \cdot v + av + bu + u \times v\end{align}$$

$$\left(\begin{array}{r} \times \; \text{Cross Product} \\ \cdot \;\quad \text{Dot Product} \end{array}\right)$$

1. Absorbing element of operator $\circ$ : 0
2. $p, q\in Q, p\neq 0 \land q\neq 0 \Rightarrow p\circ q \neq 0$
   $$\left.\begin{array}{r}p=(a+u)\\q=(b+v)\\p\circ q=0\end{array}\right\}\Rightarrow u\times v=0\Rightarrow ...\Rightarrow p=0 \lor q=0$$
3. $\circ$ is associative
   $$\begin{array}{l}(a+u)\circ(b+v)\circ(c+w)=\\a\circ b\circ c+a\circ b \circ w+a\circ v \circ c+a\circ v\circ w+\\u\circ b\circ c+u\circ b \circ w+u\circ v \circ c+u\circ v\circ w\end{array}$$
   $$u\circ v\circ w=(xi+yj+zk)\circ(x'i+y'j+z'k)\circ(x''i+y''j+z''k)$$
4. Identity element of $\circ$ : 1
5. Inverse of q
6. $(Q-\{0\};\circ)$ is a Group
7. Thus, $(Q;+;\circ)$ is a Division Ring

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The Next: (Rodrigues’) Rotation Formula