# Velocity derivatives using Quaternions [closed]

How to compute the angular and linear velocities Quaternions? I am new to this area and although I have studied the algebra I am unable to understand how to compute the velocities.

• Could you be more precise here, what exactly you want? E.g. you have two quaternions, and you want to get the rotation between them? – Jakob Sep 15 '14 at 7:57
• If they open again, I will try to answer your queston. – leCrazyEngineer Jul 17 '16 at 20:22

The best way is of course to get yourself familiar with geometric algebra first.

Lounesto, Pertti. Clifford algebras and spinors. Vol. 286. Cambridge university press, 2001.


After that, everything can be derived by yourself. But I guess most people here only like quick and dirty approaches. Use this book instead:

Kuipers, Jack B. Quaternions and rotation sequences. Vol. 66. Princeton: Princeton university press, 1999.


McCarthy, J. Michael. Introduction to theoretical kinematics. MIT press, 1990.