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Maybe I should learn Geometry Algerba (GA) first and then wrte that article instead. It appears many of the techniques on this site might be dead soon and replaced by GA.
Quaternions is much simpler than matrices if you learn by good reference.
Did you consider create an article based on this video? https://www.youtube.com/watch?v=mHVwd8gYLnI&list=PL_w_qWAQZtAZhtzPI5pkAtcUVgmzdAP8g&index=9
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