It's somewhat silly to read about animation using a static doc. My preferred intro to quaternions in the context of motion is the pair of articles at https://ac

It's somewhat silly to read about animation using a static doc. My preferred intro to quaternions in the context of motion is the pair of articles at https://acko.net/tag/quaternions/ https://acko.net/tag/quaternions/. They were critical helping me learn quaternions for computer graphics. I also recommend https://acko.net/blog/how-to-fold-a-julia-fractal/ https://acko.net/blog/how-to-fold-a-julia-fractal/ as a primer if you aren't comfortable with regular complex numbers.