  In this paper, we have proposed a novel VLSI-oriented approach to computing
the rotation matrix entries from the quaternion coefficients. The advantage of
this approach is the complete elimination of multiplications and replacing them
by less costly squarings. Our approach uses Logan's identity, which proposes to
replace the calculation of the product of two numbers on summing the squares
via the Binomial Theorem. Replacing multiplications by squarings implies
reducing power consumption as well as decreases hardware circuit complexity.
