WOLFRAM SYSTEM MODELER
This information is part of the Modelica Standard Library maintained by the Modelica Association.
w = TransformationMatrices.angularVelocity1(T, der_T);
This function returns the angular velocity w of frame 2 with respect to frame 1, resolved in frame 1, from the transformation matrix T that describes the orientation to rotate frame 1 into frame 2 and from its first time derivative der_T:
w = vec( der(transpose(T)) * T ).
Type: AngularVelocity (rad/s)
Description: Angular velocity of frame 2 with respect to frame 1 resolved in frame 1