Application of quaternions to dynamics

ABSTRACT Master of Science Thesis APPLICATION OF QUATERNIONS TO DYNAMICS SÜLEYMAN DEMİR Anadolu University Graduate School of Natural and Applied Sciences Physics Program Supervisor: Prof. Dr. Kudret ÖZDAŞ 1999, Page 62 In this thesis; after general definition of quaternions, quaternion algebra and quaternion-vector relation have been investigated and many useful identities pertaining to quaternion multiplications have been generalized. Then, the matrix representations of quaternions have been showed. The methods which are used to describe the coordinate systems which make rotational and translational motion have been discussed and the relation between them and quaternion approach have been investigated. Physical applications of quaternions have been analysed and finally, dual quaternion concept has been defined and the applications of dual quaternions have been given. Keywords: quaternion, dual quaternion, rotation, translation