= Corotating-frame representation of a Jaumann derivative
{title2=$\frac{d}{dt}(Q^TTQ)=Q^T\overset\circ TQ$}
If an <orthogonal matrix> $Q$ satisfies $\dot Q=WQ$ for the <spin tensor> $W^T=-W$, the <Jaumann derivative> becomes an ordinary derivative in that frame:
$$
\frac{d}{dt}(Q^TTQ)=Q^T(\dot T-WT+TW)Q.
$$
This follows by differentiating all three factors and using $\dot Q^T=-Q^TW$. It converts a <tensor> relaxation law using the <Jaumann derivative> into a componentwise ordinary differential equation.
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