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 math Relation

Angular velocity

Linear velocity 

Rotation Matrix 

programming mathematical algorithms numerical calculation

math Relation between Angular Linear velocity Linear velocity Rotation Matrix programming  algorithms

https://www.mecharithm.com/velocities-in-robotics-angular-velocities-twists/
Velocities in Robotics: Angular Velocities & Twists 

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3.3.2. Twists (Part 1 of 2) – Modern Robotics
https://modernrobotics.northwestern.edu/nu-gm-book-resource/3-3-2-twists-part-1-of-2/