Animating rotation with quaternion curves. - Ken Shoemake (SIGGRAPH, 1985)

Convolution surfaces. - Jules Bloomenthal; Ken Shoemake (SIGGRAPH, 1991)

Uniform Random Rotations. - Ken Shoemake (Graphics Gems III, 1992)

Arcball Rotation Control. - Ken Shoemake (Graphics Gems, 1994)

Polar Matrix Decomposition. - Ken Shoemake (Graphics Gems, 1994)

Euler Angle Conversion. - Ken Shoemake (Graphics Gems, 1994)

Fiber Bundle Twist Reduction. - Ken Shoemake (Graphics Gems, 1994)