people seem to always talk about gimbal lock as a reason to use quaternions over euler angles, but it seems like they're also a more natural fit for physics (esp. torque) and relative rotation (i.e. a space ship turning around its own z axis).
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we could have settled on the more natural vector algebra that includes quaternions, but unfortunately they were dubbed "a positive evil of no inconsiderable magnitude" before it caught on 😔
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Yeah, I'm trying to learn about clifford/geometric algebra more. It seems really nice! Sadly we have a huge amount of stuff on linear algebra, but not much on clifford algebra. Apparently it's really handy for spacetime computations, and greatly simplifies many things in physics.
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I think if's fine for people to learn LA first, given the wider resources available, but I would love to see more stuff on GA. Perhaps with less of the fervor too - I think at times people see that as a tad off-putting.
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Oooh, this looks interesting!
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On the topic of quaternion explainers: this is a really nice primer, using GA.
I particularly enjoy the diagram showing how each component of the bivector part contributes to the full rotation. 
probablydance.com/2017/08/05/int
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