[د.امير]

:answers are in the link below
http://world.std.com/~sweetser/quaternions/ps/sr.pdf
Q1: page 17, 2-25
Q2: page 16, 2-21 _just change numbers
Q3 on page 11, 2-10
Q4&Q5: similar problems are given on pages 10 to 16
for example Q4: page 10, 2-9
Q5 similar to questions on pages 12, 13 & 14


This link above is also a good reference on the subject