William Kingdon Clifford initiated the use of dual quaternions for kinematics, followed by Aleksandr Kotelnikov, Eduard Study (Geometrie der Dynamen), and Wilhelm Blaschke. However, the point of view of Sophus Lie has recurred. In 1940, Julian Coolidge described the use of dual quaternions for screw displacements on page 261 of A History of Geometrical Methods. He notes the 1885 contribution of Arthur Buchheim. Coolidge based his description simply on the tools Hamilton had used for real quaternions.