A quaternion of modulus one is called a unit quaternion. Show that the set of unit quaternions
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A quaternion of modulus one is called a unit quaternion. Show that the set of unit quaternions is a group containing the finite sub-group \(\{ \pm 1, \pm \mathbf{i}, \pm \mathbf{j}, \pm \mathbf{k}\}\). What is the group inverse of \(q\) ?
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