Geometric Algebra - 3D Rotations and Rotors

In this video, we employ the fact that two reflections is a rotation to perform rotations in 3D. We also will derive the general rotation formula, show how to compose rotations, and introduce the rotor version of this formula and discover the rotor's sign flip under a 2pi rotation.

References / Further Reading:
1. Lasenby and Doran's "Geometric Algebra for Physicists".

Note: This video builds off prior videos in this series, particularly:
1. Fundamentals in 2D:    • Geometric Algebra in 2D - Fundamental...  

2. Vector Projection and Reflection:    • Geometric Algebra in 2D - Vector Proj...  

3. Two Reflections is a Rotation:    • Geometric Algebra in 2D - Two Reflect...  

4. Fundamentals in 3D:    • Geometric Algebra in 3D - Fundamentals  

Erratum:
33:50 - the sine function is odd, not even.