Rotations, Quaternions, and Double Groups Faraday had the gift of

Faraday had the gift of exposition for a popular audience

irrational powers and menaces

and animals of all kinds

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She translated these tales of the legendary Cuchulain — an Irish Achilles who was the greatest of ancient Ireland's fabled Knights of the Red Branch — from the original Irish

Rotations, Quaternions, and Double Groups Faraday had the gift ofThis self contained text presents a consistent description of the geometric and quaternionic treatment of rotation operators, employing methods that lead to a rigorous formulation and offering complete solutions to many illustrative problems. Geared toward upper level undergraduates and graduate students, the book begins with chapters covering the fundamentals of symmetries, matrices, and groups, and it presents a primer on rotations and rotation