Question: please solve clearly with pen and paper 5 Points Suppose we have three frames, o0,o1 and o2. R10=exp(S((t))) and R21=exp(S(k(t))) where k=2t23t4t2,=00t Calculate the angular

please solve clearly with pen and paper

5 Points Suppose we have three frames, o0,o1 and o2. R10=exp(S((t))) and R21=exp(S(k(t))) where k=2t23t4t2,=00t Calculate the angular velocity related to R20 expressed in frame o0, which is denoted by 0,20

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