Definition of quaternion
1
: a set of four parts, things, or persons
2
: any of a set of numbers that comprise a four-dimensional vector space with a basis consisting of the real number 1 and three imaginary units i, j, k, that follow special rules of multiplication, and that are used especially in computer graphics, robotics, and animation to rotate objects in three dimensions
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Merriam-Webster unabridged
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Time Traveler for quaternion
The first known use of quaternion was in the 14th century
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