Now, I am trying make an idea how can calculate this equation that include quaternion.
$q\otimes \frac{F}{m}\otimes {q}^{*}$
where, $\;q = [ w, x, y, z ]; \;\; {q}^{*} = [ w, -x, -y, -z ];$ $ \frac{F}{m} = [ 0, 0, F/m ];$
when I calculate this equation, I am not sure how should I handle $q\otimes \frac{F}{m}$.
Please, let me know.