TABLE 3.

Kinematic variables to transform (Equation 8).

$\left\{\psi \right\}$	$\overline{\mathbf{\Omega }}$ from (2)	$\overline{\mathit{V}}$ from (2)	$\overline{\mathit{R}}$
$\left\{\mathcal{B}\mathcal{B}\right\}$	${\overline{\mathbf{\Omega }}}^b$	${\overline{\mathit{V}}}^b$	$-\left[{\mathit{I}}_{3\times 3},{\mathit{I}}_{3\times 3},\dots \right]$
$\left\{\mathcal{G}\mathcal{B}\right\}$	${\overline{\mathbf{\Omega }}}^b$	${\overline{\mathit{V}}}^b$	$\left[\mathit{R}\left(0\right),\mathit{R}\left(1\right),\dots \right]$
$\left\{\mathcal{G}\mathcal{G}\right\}$	${\overline{\mathbf{\Omega }}}^g$	${\overline{\mathit{V}}}^g$	$-\left[{\mathit{I}}_{3\times 3},{\mathit{I}}_{3\times 3},\dots \right]$
$\left\{\mathcal{B}\mathcal{G}\right\}$	${\overline{\mathbf{\Omega }}}^g$	${\overline{\mathit{V}}}^g$	$\left[{\mathit{R}}^T\left(0\right),{\mathit{R}}^T\left(1\right),\dots \right]$