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→Definition: scalar->real |
Tag: Reverted |
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which upon defining <math>\vec{t} = 2\vec{q} \times \vec{v}</math> can be written in terms of scalar and vector parts as
:<math>
(0, \vec{v}^{\,\prime}) = (0, (q_w^2 - \vec{q}\cdot\vec{q})\vec{v} + q_w \vec{t} + \vec{q} \times \vec{t} ).
</math>
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