[tzs]

> But quaternions cannot be used to describe any linear function

Does this mean all functions that can be described by quaternions are non-linear, or does it mean that quaternions can describe some linear functions such as the ones associated with rotations in 3D space but there are linear function they cannot describe?

[thomaskoopman]

Quaternions (when viewed as vectors) are not linear functions, but the arguments to linear functions. You can add them: (a + bi + cj + dk) + (a' + b'i + c'j + d'k) = (a + a') + (b + b')i + (c + c')j + (d + d')k, and multiply them by a scalar: lambda * (a + bi + cj + dk)= (lambda * a) + (lambda * b)i + (lambda * c)j + (lambda * d)k. An example of a linear function on quaternions is the zero function. After all, zero(q + q') = 0 = 0 + 0 = zero(q) + zero(q'), and zero(lambda * q) = 0 = lambda * 0 = lambda * zero(q).

Matrices and quaternions take different approaches to describing rotations: a matrix sees a rotation as a linear function, and quaternions see rotations as a group (confusingly represented with matrices, this field is called representation theory if you want to know more).

So the answer to your question: there are linear functions that quaternions cannot describe. And quaternions can only describe a very specific class of linear functions (with some rather complicated maths behind them).