Oops, yes I did. For curious readers: `2` is a quaternion, but `exp(2)` doesn't generate a rotation, it generates 7.389... just like normal exponentiation on r

Oops, yes I did. For curious readers: `2` is a quaternion, but `exp(2)` doesn't generate a rotation, it generates 7.389... just like normal exponentiation on reals. So if you have a real term in your lie algebra, it will generate things that scale the object as well as rotating it. So instead you want only `ai + bj + ck`, as `exp(ai + bj + ck)` will always have magnitude 1