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Here's a simple way to handle the case where you have no initial angular velocity. You can transform your start and end quaternions into an angle-axis representation of the desired change in rotation:
Quaternion deltaQuat = endQuat * Quaternion.Inverse(startQuat);
float deltaAngle = Math.Acos(deltaQuat.w) * 2.0f;
Vector3 axis = Vector3.Normalize(new ...
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