Classical Hamiltonian Quaternions
William Rowan Hamilton invented quaternions, a mathematical entity in 1843. This article describes Hamilton's original treatment of quaternions, using his notation and terms. Hamilton's treatment is more geometric than the modern approach, which emphasizes quaternions' algebraic properties. Mathematically, quaternions discussed here are those used in almost all modern applications.
Read more about Classical Hamiltonian Quaternions: Classical Elements of A Quaternion, Four Operations
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