Rotations, quaternions, and double groups

This self-contained text presents a consistent description of the geometric and quaternionic treatment of rotation operators, employing methods that lead to a rigorous formulation and offering complete solutions to many illustrative problems.Geared toward upper-level undergraduates and graduate students, the book begins with chapters covering the fundamentals of symmetries, matrices, and groups, and it presents a primer on rotations and rotation matrices. Subsequent chapters explore rotations and angular momentum, tensor bases, the bilinear transformation, projective representations, and the g