conventions and setup
As far as possible, I am going to stay with my notation. r and are the old and new (fixed and rotating) components of the position vector; v and are derivatives wrt time of r and respectively; a and are derivatives wrt time of v and respectively. (But R is a convenient scalar value, and will no longer denote the position vector whose components are r and .)
The rotating frame is the same in all these problems, so get its matrices early (hence not often). The z-axis is our axis of rotation.
The attitude matrix for a CCW rotation of the axes (about the z-axis) is…
The transition matrix is… Read the rest of this entry »