THE ANGULAR VELOCITY VECTOR

Let { Ξ , ε 1 , ε 2 , ε 3 } and { O, e1 , e2 , e3 } be the inertial reference system and the mobile reference
system fixed to the rigid body.
The angular velocity vector describing the motion of the mobile reference system with reference to
the inertial is

 de   de   de 
ω =  2 ⋅ e 3  e1 +  3 ⋅ e1  e 2 +  1 ⋅ e 2  e 3 . (1)
 dt   dt   dt 

If we consider a general vector v fixed with the mobile reference system, its derivative with respect
to time will be

dv
= ω× v, (2)
dt

and in a matrix formulation we can write

dv
= Ωv , (3)
dt

where

0 −ω3 ω2
Ω= ω 3 0 −ω1 . (4))
−ω2 ω1 0

Now it’s possible to express the components of the angular velocity as

de 2 d
ω1= ⋅ e3 = [ ( e 2 ⋅ ε1 )ε1 + ( e 2 ⋅ ε 2 )ε 2 + ( e 2 ⋅ ε 3 )ε 3 ] ⋅ [ ( e 3 ⋅ ε1 ) ε1 + ( e 3 ⋅ ε 2 ) ε 2 + ( e 3 ⋅ ε 3 )ε 3 ] , (5)
dt dt

de 3 d
ω2= ⋅ e1 = [ ( e 3 ⋅ ε 1 ) ε 1 + ( e 3 ⋅ ε 2 ) ε 2 + ( e 3 ⋅ ε 3 ) ε 3 ] ⋅ [ ( e1 ⋅ ε 1 ) ε 1 + ( e1 ⋅ ε 2 ) ε 2 + ( e1 ⋅ ε 3 ) ε 3 ] , (6)
dt dt

de1 d
ω3= ⋅ e2 = [ ( e1 ⋅ ε 1 ) ε1 + ( e1 ⋅ ε 2 ) ε 2 + ( e1 ⋅ ε 3 ) ε 3 ] ⋅ [ ( e 2 ⋅ ε 1 ) ε 1 + ( e 2 ⋅ ε 2 ) ε 2 + ( e 2 ⋅ ε 3 ) ε 3 ] . (7)
dt dt

1
The matrix of rotation from the mobile reference system to the inertial is

e1 ⋅ ε 1 e 2 ⋅ ε1 e 3 ⋅ ε1
R = e1 ⋅ ε 2 e2 ⋅ ε2 e3 ⋅ ε2 (8)
e1 ⋅ ε 3 e2 ⋅ ε3 e3 ⋅ ε3

therefore, the angular velocity results

T
 e1 ⋅ ε 1 e 2 ⋅ ε1 e 3 ⋅ ε1  e1 ⋅ ε 1 e 2 ⋅ ε1 e 3 ⋅ ε1
d 
Ω=  e1 ⋅ ε 2 e2 ⋅ ε2 e3 ⋅ ε2  e1 ⋅ ε 2 e2 ⋅ ε2 e3 ⋅ ε2 , (9)
dt   e ⋅ε
 e1 ⋅ ε 3 e2 ⋅ ε3 e3 ⋅ ε3  1 3 e2 ⋅ ε3 e3 ⋅ ε3

˙ RT .
Ω= R