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please show me all the details Suppose we have three frames, o0,o1 and o2R10=exp(S((t))) and R21=exp(S(k(t))) where k=2t23t4t2,=00t Calculate the angular velocity related to R20

please show me all the details

Suppose we have three frames, o0,o1 and o2R10=exp(S((t))) and R21=exp(S(k(t))) where k=2t23t4t2,=00t Calculate the angular velocity related to R20 expressed in frame o0, which is denoted by 0,20

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