[omaranto]

You're right that the space of rotations is 3-dimensional. When I said 4, I meant without restricting to the unit hypersphere. This causes no problem for rotations because replacing q by a multiple tq leaves the formula x --> qxq^(-1) unchanged --although of course q^(-1) invloves dividing by the square of the norm so it's nice if the norm is 1.

Note that even if you do restrict q to have unit norm, q and -q still denote the same rotation! (In other words, the space of rotations isn't really S^3, but projective space RP^3.)

I'll be sure to check out the 3B1B video, I keep seeing them recommended and I think they might a good resource to recommend to my students.