Elmer Nocon

Angelo Bernabe
Mark Hitosis
Quaternion Addition
Let P a ib jc kd and Q e if jg kh be two quaternions.

the sum of P and Q is

[(a e) i(b f) j (c g ) k (d h)] [ a ib jc kd e if jg kh ]
Quaternion Addition
Let P a ib jc kd and Q e if jg kh be two quaternions.

the sum of P and Q is

[(a e) i(b f) j (c g ) k (d h)] [ a ib jc kd e if jg kh ]
Quaternion Addition
Let P a ib jc kd and Q e if jg kh be two quaternions.

the sum of P and Q is

[(a e) i(be5 f ) j (c g ) k (d h)] [ a ib jc kd e if jg kh ]
Quaternion Addition
Let P a ib jc kd and Q e if jg kh be two quaternions.

the sum of P and Q is

[(a e) i(b f) j (c g ) k (d h)] [ a ib jc kd e if jg kh ]
Quaternion Addition
Let P a ib jc kd and Q e if jg kh be two quaternions.

the sum of P and Q is

[(a e) i(b f) j (c g ) k (de h)] [ a ib jc kd e if jg kh ]
Quaternion Addition
Example:
Let S 5 6i 7 j 8k and T 8 7i 6 j 5k be two quaternions.

the sum of S and T is

[(a e) i(b f) j (c g ) k (d h)] [ a ib jc kd e if jg kh ]

(5 8) i(6 7) j (7 6) k (8 5)

13 13i 13 j 13k
Quaternion Subtraction
Let P a ib jc kd and Q e if jg kh be two quaternions.

the difference of P and Q is

[(a e) i(b f) j (c g ) k (d h)] [ a ib jc kd e if jg kh ]
Quaternion Subtraction
Let P a ib jc kd and Q e if jg kh be two quaternions.

the difference of P and Q is

[(a e) i(b f) j (c g ) k (d h)] [ a ib jc kd e if jg kh ]
Quaternion Subtraction
Let P a ib jc kd and Q e if jg kh be two quaternions.

the difference of P and Q is

[(a e) i(b f) j (c g ) k (d h)] [ a ib jc kd e if jg kh ]
Quaternion Subtraction
Let P a ib jc kd and Q e if jg kh be two quaternions.

the difference of P and Q is

[(a e) i(b f) j (c g ) k (d h)] [ a ib jc kd e if jg kh ]
Quaternion Subtraction
Let P a ib jc kd and Q e if jg kh be two quaternions.

the difference of P and Q is

[(a e) i(b f) j (c g ) k (d h)] [ a ib jc kd e if jg kh ]
Quaternion Subtraction
Example:
Let S 5 6i 7 j 8k and T 8 7i 6 j 5k be two quaternions.

the difference of S and T is

[(a e) i(b f ) j(c g ) k (d h)] [ a ib jc kd e if jg kh ]

(5 8) i(6 7) j (7 6) k (8 5)

( 3) ( 1i) 1 j 3k
Quaternion Multiplication
Let P a ib jc kd and Q e if jg kh be two quaternions.

the product of P and Q is

a ib jc kd e if jg kh
Quaternion Multiplication
Let P a ib jc kd and Q e if jg kh be two quaternions.

the product of P and Q is we distribute

a ib jc kd e if jg kh

(a e) i(a f ) j (a * g ) k (a * h)
i(b * e) (i * i) * (b * f ) (i * j ) * (b * g ) (i * k ) * (b * h)
j (c * e) ( j * i) * (c * f ) ( j * j ) * (c * g ) ( j * k ) * (c * h)
k (d * e) (k * i) * (d * f ) (k * j ) * (d * g ) (k * k ) * (d * h)
 When we multiply the imaginary operators we use the following rules:
(i * i ) ( j * j) (k * k ) 1
(i * j ) k
( j * i) k
( j *k) i
(k * j ) i
(k * i) j
(i * k ) j

(a e) i(a f ) j (a * g ) k (a * h)
i(b * e) (i * i) * (b * f ) (i * j ) * (b * g ) (i * k ) * (b * h)
j (c * e) ( j * i) * (c * f ) ( j * j ) * (c * g ) ( j * k ) * (c * h)
k (d * e) (k * i) * (d * f ) (k * j ) * (d * g ) (k * k ) * (d * h)
 When we multiply the imaginary operators we use the following rules:
(i * i ) ( j * j) (k * k ) 1
(i * j ) k
( j * i) k
( j *k) i
(k * j ) i
(k * i) j
(i * k ) j

(a e) i(a f ) j (a * g ) k (a * h)
i(b * e) (i * i) * (b * f ) (i * j ) * (b * g ) (i * k ) * (b * h)
j (c * e) ( j * i) * (c * f ) ( j * j ) * (c * g ) ( j * k ) * (c * h)
k (d * e) (k * i) * (d * f ) (k * j ) * (d * g ) (k * k ) * (d * h)
 When we multiply the imaginary operators we use the following rules:
(i * i ) ( j * j) (k * k ) 1
(i * j ) k
( j * i) k
( j *k) i
(k * j ) i
(k * i) j
(i * k ) j

(a e) i(a f ) j (a * g ) k (a * h)
i(b * e) (b * f ) k (b * g ) j (b * h)
j (c * e) k (c * f ) (c * g ) i(c * h)
k (d * e) j (d * f ) i(d * g ) (d * h)
then we simplify

(a * e) (b * f ) (c * g ) (d * h)
i[(b * e) (a * f ) (c * h) (d * g )]
j[(a * g ) (b * h) (c * e) (d * f )]
k[(a * h) (b * g ) (c * f ) (d * e)]

our newly derived formula

Quaternion Multiplication
Example:
Let S 2 3i 2 j 3k and T 3 2i 3 j 2k be two quaternions.
the product of S and T is
a ib jc kd e if jg kh
using our formula
(a * e) (b * f ) (c * g ) (d * h)
i[(b * e) (a * f ) (c * h) (d * g )]
j[(a * g ) (b * h) (c * e) (d * f )]
k[(a * h) (b * g ) (c * f ) (d * e)]

6 6 6 6 i[9 4 4 9] j[6 6 6 6] k[4 9 4 9]

12 8i 12 j 18k
Quaternion Division
Let P a ib jc kd and Q e if jg kh be two quaternions.

to find the quotient of P and Q

P Q
a ib jc kd e if jg kh

we need to multiply P
by the reciprocal of Q
and to find the Q-1,
we need to find the
P Q 1 conjugate of q and divide
it by the normal of q
Q
Q
Quaternion Conjugation
Let P a ib jc kd be a quaternion.

the conjugate of P is

P a ib jc kd
Quaternion Conjugation
Example:
Let P 3 2i 4 j 6k be a quaternion.

the conjugate of P is

P 3 2i 4 j 6k
Normal of a Quaternion
Let P a ib jc kd be a quaternion.

the normal of P is

P a2 b2 c2 d2
Normal of a Quaternion
Example:
Let P 3 2i 4 j 6k be a quaternion.

the normal of P is

P 32 22 42 62

P 9 4 16 36

P 8.0622577
Reciprocal of a Quaternion
Let P a ib jc kd be a quaternion.

the reciprocal of P is

1 P a ib jc kd
P
P a2 b2 c2 d2
Reciprocal of a Quaternion
Example:
Let P 3 2i 4 j 6k be a quaternion.

the reciprocal of P is

1 3 2i 4 j 6k
P
32 22 42 62

1 3 2i 4 j 6k
P
8.0622577
Quaternion Division
Example:
Let P 2 3i 2 j 3k and Q 3 2i 4 j 6k be two quaternions.

the quotient of P and Q is

P Q
2 3i 2 j 3k 3 2i 4 j 6k

1
P Q
3 2i 4 j 6k
2 3i 2 j 3k
32 22 42 62
Quaternion Division
1 2 3i 2 j 3k (3 2i 4 j 6k )
P Q
32 22 42 62
we use our formula in
quaternion multiplication
(a * e) (b * f ) (c * g ) (d * h)
i[(b * e) (a * f ) (c * h) (d * g )]
j[(a * g ) (b * h) (c * e) (d * f )]
k[(a * h) (b * g ) (c * f ) (d * e)]

a ib jc kd e if jg kh

6 6 8 18 i[9 4 12] j[ 8 18 6 6] k[ 12 12 4 9]
32 22 42 62
38 17i 10 j 29k 17i 10 j 29k
2 2 2 2
(4.7133199)
3 2 4 6 32 22 42 62