3D Math - Quaternion Log, Exp, and scalar multiplication

In this episode, I discuss quaternion log, quaternion exp, and multiplication by a scalar.

Concepts:
* Quaternion Log
* Quaternion Exp
* Quaternion Multiplication by scalar

## RESOURCES:

* Code / Slides: https://github.com/davidwparker/programmingtil-3d-math/tree/master/0031-quaternions-log-exp-multi
* Slides JS: https://github.com/hakimel/reveal.js/
* Math JS: https://www.mathjax.org/

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