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[[File:Equation13.png|frame|center]]
Now, a general quaternion is written as a + b i + c j + d k (or equivalently (a,'''v''')). ‘a’ is called the scalar part and the rest is the vector part (think of i,j,k to be similar to the unit orthogonal vectors of 3D space). <br \>
To proceed, we’ll define few quaternion properties, <ref>https://en.wikipedia.org/wiki/Quaternion </ref><br \>
* '''Addition'''