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Reference for maple version: Appendix B in Multibody Mechanics and Visualization by Harry Dankowicz, published by Springer Verlag UK, 2004.
AngularVelocity(a1,a2)
a1, a2: name of defined triads
The function AngularVelocity returns the angular velocity of the triad a2 relative to the triad a1.
Remember to invoke DeclareStates prior to using AngularVelocity.
Restart(): DeclareTriads(a,b): DefineTriads(a,b,[q1,1],[q2,3],[q3,1]): DeclareStates(q1,q2,q3): AngularVelocity(a,b);
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