Rotations with unit timelike quaternions in Minkowski 3-space

Abstract

With the aid of quaternion algebra, rotation in Euclidean space may be dealt with in a simple manner. In this paper, we show that a unit timelike quaternion represents a rotation in the Minkowski 3-space. Also, we express Lorentzian rotation matrix generated with a timelike quaternion. © 2005 Elsevier B.V. All rights reserved.