>rotors are potentially a lot easier to understand and reason about than quaternions Quats are quite easy to reason about: a unit quat holds a rotation about a

>rotors are potentially a lot easier to understand and reason about than quaternions Quats are quite easy to reason about: a unit quat holds a rotation about an axis: rotation about angle theta an axis given by direction (x,y,z) is quat q = sin(t/2) + cos(t/2)(xi+yj+zk). Composing quats q1 * q2 is the rotation you get by applying q2 then q1 to an item. So think of the scalar as holding info about the angle rotated, and the vector part as the direction of the axis. I don't see how with rotors or quats you can easily visualize composition or more complex actions (and I've used both extensively). "Blindly" trusting the formulas can be replaced by working through a proof enough times until you feel how they work, just like linear algebra, algebra, quadratic formula, etc.