Really good explanation page that breaks down how to do the process in simple english. The quaterions are even on the page. I will probably do an in depth explanation of quaterions. It may have to span across several videos.
Aligning Vectors 2D / 3D and Quaterion Rotations:
http://www.euclideanspace.com/maths/algebra/vectors/angleBetween/index.htm
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