A Primer of Quaternions

From the Preface. The Theory of Quaternions is due to Sir William Rowan Hamilton, Royal Astronomer of Ireland, who presented his first paper on the subject to the Royal Irish Academy in 1843. His Lectures on Quaternions were published in 1853, and his Elements, in 1866, shortly after his death. "The Elements of Quaternions" by Tait is the accepted text-book for advanced students. The following development of the theory is prepared for average students with a thorough knowledge of the elements of algebra and geometry and is believed to be a simple and elementary treatment founded directly upon the fundamental ideas of the subject. This theory is applied in the more advanced examples to develop the principal formulas of trigonometry and solid analytical geometry, and the general properties and classification of surfaces of second order. ...