Here is some introductory material to what I referenced above and some generalizations into more dimensions (which, as Hamilton discovered when stumbling into quaternions trying to augment complex numbers, is not as straightforward as you would think):
- Why i? [http://www.stat.physik.uni-potsdam.de/~pikovsky/teaching/stu...]
- An Introduction to Geometric Algebra with an Application in Rigid Body Mechanics [https://www.researchgate.net/profile/Terje-Vold/publication/...]
- Functions of Multivector Variables [https://journals.plos.org/plosone/article/file?id=10.1371/jo...]
- Lie Group Theory - A Completely Naive Introduction [https://jakobschwichtenberg.com/naive-introduction-lie-theor...]
- Previous HN discussion: Intuitive Understanding of Euler’s Formula [https://news.ycombinator.com/item?id=18325865]