On the composition of finite rotations in \({\mathbb E}^4\) (Q254857)

The authors investigate products of rotations in the Euclidian space \(\mathbb E^4\). They explain simple and double rotations. Working with real quaternions, the authors give conditions under which the product of two rotations is again a rotation. They use \textit{H. S. M. Coxeter}'s work on quaternions and reflections [Am. Math. Mon. 53, 136--146 (1946; Zbl 0063.01003)]. They also make a number of historical comments; in one of these they refer to Olinde Rodrigues' paper of 1840 on \textit{Transformation groups}.