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QUESTION
a) Write the formula for a rotation R of R^3 with axis in the direction of the positive y-axis and with angle = /3 in the quaternionic form.
a) Write the formula for a rotation R of R^3 with axis in the direction of the positive y-axis and with angle θ = π/3 in the quaternionic form.
b) Using the formula from a) compute the image of the point (1, −1, 0) under R
