Generalized Quaternion and Rotation in 3-space E (3-alfa,beta)
  The paper explains how a unit generalized quaternion is used to represent a rotation of a vector in 3-dimensional space. We review of some algebraic properties of generalized quaternions and operations between them and then show their relation with the rotation matrix. 
Mehdi Jafari and Yusuf Yayli
math-ph math.MP