The body angular velocity is also described as a sum of WB/C and WC/N: W = WB/N = WB/C + WC/N, WB/C = sc3, wc/N = ph, where represents the direction of the angular momentum of the body about the CoM, i.c., h = H/H. Now let us analytically show that Eq. (8) indeed gives a result consistent with Eq. (7). 3 = 63 Figure 1: Relation between {b} and {} (8) (a.1): b; is obtained by rotating ; about 3 for some angle, denoted by (see Fig. 1). Denoting at time t = 0 by 0, express ; in terms of b; as a function of t. (Hint: WB/C = s3 from Eq. (8))