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Nov 24th, 2014
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  1. q1 = 0.7545 - 0.1137i - 0.2715j - 0.5865k
  2.  
  3. q2 = 0.7706 - 0.2252i - 0.3511j - 0.4817k
  4.  
  5. qr = -0.9850 + 0.0072i + 0.1329j - 0.1097k
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