diff --git a/basic-geometry/versor.c b/basic-geometry/versor.c
index 0fadc5c..8405012 100644
--- a/basic-geometry/versor.c
+++ b/basic-geometry/versor.c
@@ -40,6 +40,9 @@ extern inline void bgc_versor_combine_fp64(const BgcVersorFP64* second, const Bg
 extern inline void bgc_versor_combine3_fp32(const BgcVersorFP32* third, const BgcVersorFP32* second, const BgcVersorFP32* first, BgcVersorFP32* result);
 extern inline void bgc_versor_combine3_fp64(const BgcVersorFP64* third, const BgcVersorFP64* second, const BgcVersorFP64* first, BgcVersorFP64* result);
 
+extern inline void bgc_versor_exclude_fp32(const BgcVersorFP32* base, const BgcVersorFP32* excludant, BgcVersorFP32* difference);
+extern inline void bgc_versor_exclude_fp64(const BgcVersorFP64* base, const BgcVersorFP64* excludant, BgcVersorFP64* difference);
+
 extern inline void bgc_versor_get_rotation_matrix_fp32(const BgcVersorFP32* versor, BgcMatrix3x3FP32* matrix);
 extern inline void bgc_versor_get_rotation_matrix_fp64(const BgcVersorFP64* versor, BgcMatrix3x3FP64* matrix);
 
diff --git a/basic-geometry/versor.h b/basic-geometry/versor.h
index 8215daa..6240b0f 100644
--- a/basic-geometry/versor.h
+++ b/basic-geometry/versor.h
@@ -338,6 +338,30 @@ inline void bgc_versor_combine3_fp64(const BgcVersorFP64* third, const BgcVersor
     );
 }
 
+// ================= Exclusion ================== //
+
+inline void bgc_versor_exclude_fp32(const BgcVersorFP32* base, const BgcVersorFP32* excludant, BgcVersorFP32* difference)
+{
+    bgc_versor_set_values_fp32(
+        (base->s0 * excludant->s0 + base->x1 * excludant->x1) + (base->x2 * excludant->x2 + base->x3 * excludant->x3),
+        (base->x1 * excludant->s0 + base->x3 * excludant->x2) - (base->s0 * excludant->x1 + base->x2 * excludant->x3),
+        (base->x2 * excludant->s0 + base->x1 * excludant->x3) - (base->s0 * excludant->x2 + base->x3 * excludant->x1),
+        (base->x3 * excludant->s0 + base->x2 * excludant->x1) - (base->s0 * excludant->x3 + base->x1 * excludant->x2),
+        difference
+    );
+}
+
+inline void bgc_versor_exclude_fp64(const BgcVersorFP64* base, const BgcVersorFP64* excludant, BgcVersorFP64* difference)
+{
+    bgc_versor_set_values_fp64(
+        (base->s0 * excludant->s0 + base->x1 * excludant->x1) + (base->x2 * excludant->x2 + base->x3 * excludant->x3),
+        (base->x1 * excludant->s0 + base->x3 * excludant->x2) - (base->s0 * excludant->x1 + base->x2 * excludant->x3),
+        (base->x2 * excludant->s0 + base->x1 * excludant->x3) - (base->s0 * excludant->x2 + base->x3 * excludant->x1),
+        (base->x3 * excludant->s0 + base->x2 * excludant->x1) - (base->s0 * excludant->x3 + base->x1 * excludant->x2),
+        difference
+    );
+}
+
 // ================ Get Rotation ================ //
 
 void bgc_versor_get_rotation_fp32(const BgcVersorFP32* versor, BgcRotation3FP32* result);