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An Erratum for this chapter can be found at http://dx.doi.org/10.1007/BF03256558
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Shuster, M.D. Erratum: The Nature of the Quaternion. J of Astronaut Sci 56, 621 (2008). https://doi.org/10.1007/BF03256568
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DOI: https://doi.org/10.1007/BF03256568