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$\begingroup$ Thanks a lot for taking the time to write this excellent (and well-referenced) answer. As with time systems, the more I read about transformation of coordinate systems, the bigger the rabbit hole seems to become! But I now see a clear path to doing the transformation through equation 11 together with transport theorem. Luckily I have not (yet) gotten into transforming accelerations too... $\endgroup$
– Rafa
Commented Jan 29 at 2:38
2

$\begingroup$ @Rafa It is possible, at least for quaternions as opposed to matrices; see for example the documentation regarding how the Johnson Engineering Orbital Dynamics package (JEOD) on quaternions. In particular, look at the appendices. $\endgroup$
– David Hammen
Commented Jan 29 at 10:03

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