also Physics from Symmetry spends 1/3 the book on lie theory passing through quaternions https://www.amazon.com/Physics-Symmetry-Undergraduate-Lecture-Notes/dp

also Physics from Symmetry spends 1/3 the book on lie theory passing through quaternions https://www.amazon.com/Physics-Symmetry-Undergraduate-Lecture-Notes/dp/3319666304/ https://www.amazon.com/Physics-Symmetry-Undergraduate-Lectur...