Address points in Pull request #23

Numerous issues relating to the quality of the code base were raised in Pull Request #23 and need to be addressed.

Update Changelog correctly
Fix README example
Fix uses of "quaternion" vs "array of quaternions" in docs
Consistently import numpy if needed, or don't do it anywhere
Consistently just use method instead of subpackage.method in subpackage documentation
Use normalized rotation quaternions in those examples (pull from the random distribution)
Cite SQUAD
Rewrite README and doc index page to refer to existing packages, be more searchable (SEO)

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