JOURNAL OF GEOMETRY AND PHYSICS, vol.56, no.2, pp.322-336, 2006 (SCI-Expanded)
With the aid of quaternion algebra, rotation in Euclidean space may be dealt with in a simple manner. In this paper, we show that a unit timelike quaternion represents a rotation in the Minkowski 3-space. Also, we express Lorentzian rotation matrix generated with a timelike quaternion.