Let the vectors q represent the two adjacent sides of a parallelogram with one of its vertices at the origin.
The other three vertices are:
(a,b), (c,d) and (a + c, b + d).
p = ai + bj
q = ci + dj
Representing these as 2 rows of a matrix,

We have
= a1i + b1j + c1k
= a2i + b2j + c2k
= a3i + b3j + c3k