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Given the quaternion components corresponding to two successive rotations, Eq. (D-13) conveniently gives the quaternion components corresponding to the total rotation.

References

1. Hamilton, Sir W. K., Elements of Quaternions. London: Longmans, Green and Co., 1866.

2. Whittaker, E. T., A Treatise on the Anafytical Dynamics of Particles and Rigid Bodies. Cambridge: Cambridge University Press, 1961.

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