2016 | OriginalPaper | Chapter
Kinematic Differential Equations
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The angular velocity ω of a body-fixed basis $$ {\b{e}^2} $$ relative to a reference basis $$ {\b{e}^1} $$ cannot, in general, be expressed as time derivative of some other vector. This is possible only in the special case when the direction of ω is constant in $$ {\b{e}^2} $$ and, thereby, also in $$ {\b{e}^1} $$ .