.Modelica.Mechanics.MultiBody.Joints.Internal.InitAngularVelocity

Information

Compute relative angular velocity w_rel_b of an orientation object R_b relative to an orientation object R_a, resolved in orientation object R_b, i.e.

w_b_b = w_a_b + w_rel_b,

where

w_b_b ...... absolute angular velocity of frame_b resolved in frame_b,
w_a_b ...... absolute angular velocity of frame_a resolved in frame_b,
w_rel_b .... relative angular velocity resolved in frame_b.