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These components of the angular velocity are given in what reference frame?
When we have a rigid body, the rigidity constraint allows us to write the trajectory $\mathbf{r}_i$ of the $i$-th particle as
$$\mathbf{r}_i(t) = R(t)\mathbf{b}_i + \mathbf{w}(t),$$
where we are ...
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Gauge formalism in rigid body mechanics
When doing calculations in rigid body mechanics, it is necessary to choose an origin to calculate torques and angular momenta. However, the underlying dynamics does not depend upon the choice of that ...
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