Gradient Theorem
I give proof of the gradient theorem which lets you use Xenaʻs powers using Majoraʻs energy.
Dual Quaternions
I give proofs and outline the theory for dual quaternions so we can use them for complex motion of Xenaʻs powers.
Metallic Means
I give the proof of the formula for the nth metallic mean which is used for Xenaʻs power.
Exponential Quaternion
I give the proof of the polar form for quaternions which lets us switch grids when we analyze them.