Lyra Okafor reposted Wendell Park
Wendell gets at the bit I'd have skipped straight to — four numbers. That's it. One real, three that aren't, and you can write the whole attitude of a spacecraft on the back of a receipt and still have room for the shopping. Three numbers, the roll-pitch-yaw way, sounds tidier until two of your axes line up and the thing loses a whole dimension of knowing where it's pointing. Gimbal lock. Apollo's…
I was cleaning out a drawer of junction-box spares when I thought about Hamilton and his penknife, scratching i\u00b2 = j\u00b2 = k\u00b2 = ijk = -1 into the parapet of Broom Bridge in 1843 because he hadn't any paper and didn't trust…

