Past exam of the mathematics course of the University of Cambridge / 2019 / ia / Paper 4 / 12A / a / Solution

Let $\{{\mathbf{e}}_i(t)\}$ be an orthonormal basis fixed in $S^{\prime }$ and write $\mathbf{a}=a_i{\mathbf{e}}_i$. A basis vector rotating with angular velocity $\mathbf{\omega }$ satisfiesDifferentiating the components and the basis vectors in $S$ therefore gives the rotating-frame derivative formula