The question explains itself by reading the attached work sheet.
Did we do that in Mathcad ... no recollection ?

Thanks if you have it to try ... Jean

Rotate Quaternion Permute.sm (22,93 KiB) scaricato 1284 volta(e).

Valery Ochov did it from his server,
no more access to it.

Rotate Quaternion Permute.sm (28,97 KiB) scaricato 1238 volta(e).