The rotation quaternion for the occiput is the same as that just used,  , because it is the same rotation, just applied to a different element. The center of rotation is the same as for the atlas rotations. First, we compute the difference between the center of the occiput and the center of rotation and the consequence of the rotation of the atlas.
Now the rotated difference vector must be added to the locus of the center of rotation.
We now turn to the orientation of the occiput
In summary, we have computed the locations and orientations of the atlas and occiput when there is a 15° flexion in the atlanto-occipital joint and 30° lateral rotation in the atlanto-axial joint.
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