2. {adopted from Wiesel, p. 41, P4) An Earthcentered inertial f4 coordinate frame I has its origin at the center of the earth. The Earth itself rotates at angular velocity me about its polar axis. The __ :39 location of a vehicle above the Earth's surface is described by; its Gamma / x H i; longitude It east from Greenwich= its latitude 5, and its altitude H x f; 3: Figure\"? above Earth's surface, as shown in the figure. Another coordinate P L l fy'hs i frame 5 has its origin at the center of Earth, with the a, vector in . 1I;__.-i.f':;f L433\"? the plane of the equator, the a2 vector pointing at the vehicle. and \"TL \""5 "r a\" a, completing the righthanded set. Show that the angular \"sh, r\" velocity of frame 3 {in l] is: 55,-? = 5 1 + (was, + 1:] sin 3\"; + {mg + 1:] cos 3 and show that the inertial velocity of the vehicle is: a=(a$+H)(m$+;i)casa s1+H2+(R$+H)33