2. On the Rotation of a Rigid Body about a Fixed Point

1869 Proceedings of the Royal Society of Edinburgh  
This paper contains an attempt to exhibit the mutual relations of some of the more important of the various processes which have been employed in solving one of the most celebrated problems of Dynamics. The Quaternion analysis has been throughout used, as far more briefly comprehensive and more suggestively expressive than the ordinary Cartesian analysis.
doi:10.1017/s0370164600046101 fatcat:orrvzh2fh5grpm52xump3i73o4