Why had I not with charitable hand Took up a beggar’s issue at my gates, Who smirch’d thus and mired with infamy, I might have said ‘No part of it is mine; This shame derives itself from unknown loins’?

If the desired result is to perform the smallest possible rotation between each pair of two orientations, you can preprocess the quaternions to achieve this.

She frowned, hearing Lim Cheng Po's voice, so English, so refined, so very English upper-class. And often she had had to tell Joe about his aitches.

Karen Cornell Wilson Kenya's big red boots were ... great for puddle jumps.