ESDU 67036 presents geometric relationships between the components of any vector in one orthogonal axis system and the components of the same vector in any other orthogonal system. The general relationship is given and then the particular forms this takes for body and Earth axes (see ESDU 67003) and for the special axis systems (path axes) defined in ESDU 67036 are deduced. The angular velocity is sometimes represented in terms of the rate of change of attitude angles. Accordingly additional relationships between these non-orthogonal components and the more usual orthogonal set are given. Again a general relationship is given and particular forms are deduced.
ESDU 67036 A-2005 history
2005ESDU 67036 A-2005 Geometric and kinematic relationships for various axis systems.