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Solve for the angular velocity and acceleration from the XYZ rotation matrix Ry l@)= | Cos 0 o sind | Rz(4)=/ cosy -sunt o CoSO

Solve for the angular velocity and acceleration from the XYZ rotation matrix

Ry l@)= | Cos 0 o sind | Rz(4)=/ cosy -sunt o CoSO -S6 Siny cos 4 o O sine Cose O cos Ry (0) Ry (o) RelM) = R= se s c4 + ces4 crco- sd sy se -So cO syse -c4cOsq coco

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