Coding the matrix exponential on so(3) 

I agree. I LOVE the hustle and bustle of Clifford algebras.

To get to the linear transformations for various angles, I think you'll end up doing the same calculations either way.

@@NikolajKuntner Exactly - it encapsulates the same mathematical ideas and calculations, but lends a much more natural and intuitive language for expressing them, especially in code!