Derivative of a body-fixed basis vector
= Derivative of a body-fixed basis vector
If $e_i$ is fixed in a rigid body with <angular velocity> $\omega$, then its derivative in the fixed space frame is
$$
\dot e_i=\omega\times e_i.
$$
= Derivative of a body-fixed basis vector
If $e_i$ is fixed in a rigid body with <angular velocity> $\omega$, then its derivative in the fixed space frame is
$$
\dot e_i=\omega\times e_i.
$$