We are suppose to compute the quaternion which performs 1/5 of the rotation of this quaternion:
[ 0.965 (0.149 -0.149 0.149)]
The answer provided is shown as below:
I'm stuck at the second last row of the ans. How do you change from the '0.998 q0 + 0.202 q' to [0.998 0.03 -0.03 0.03]