In this paper, we use the differential forms of three-dimensional Euclidean space to realize a Clifford algebra which is isomorphic to the algebra of the Pauli matrices or the complex quaternions. This is an associative vector-antisymmetric tensor algebra with division: We provide the algebraic inverse of an eight-component spinor field which is the sum of a scalar + vector + pseudovector + pseudoscalar. A surface of singularities is defined naturally by the inverse of an eight-component spinor and corresponds to a (...) generalized Minkowski “double” light cone in the parameter space. A general description of finite spatial rotations, which utilizes the Baker-Campbell-Hausdorff formula, generalizes the usual infinitesimal treatments of the rotation group. We derive an explicit expression for the angle corresponding to two successive finite rotations in any direction. We also discuss Lorentz transformations and duality rotations of the electromagnetic field and exhibit a relationship between the algebraic inverse and a duality rotated field. Using a combined transformation, one can always transform an arbitrary electromagnetic field (E≠0) into a pure electric field, but never into a pure magnetic field. (shrink)