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<math display="block">\vec{\rm z} = \tfrac{1}{\sin \left( \frac{\theta}{2} \right) }\,\vec{v}</math>
== rotations and matrices ==
:{{xt|A geometric fact independent of quaternions is the existence of a two-to-one mapping from physical rotations to rotational transformation matrices.}}
Shouldn't that be the other way around? That is, one rotation has two representations – not that one matrix can represent two rotations. —[[User:Tamfang|Tamfang]] ([[User talk:Tamfang|talk]]) 05:41, 2 August 2023 (UTC)
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