Spherical-vectors and geometric interpretation of unit quaternions

Abstract

In this article, we introduce and study the concept of $\textit{spherical-vectors}$, which can be perceived as a natural extension of the arguments of complex numbers in the context of quaternions. We initially establish foundational properties of these distinct vectors, followed by a demonstration, through the transfer of structure, that spherical-vectors constitute a non-abelian additive group, isomorphic to the group of unit quaternions. This identification facilitates the presentation of a novel polar form of quaternions, highlighting its algebraic properties, as well as the algebraic properties of the exponential writing. Furthermore, it enables the depiction of unit quaternions on the unit sphere of $\mathbb{R}^3$, allowing for a geometric interpretation of their multiplication.