Source: https://www.researchgate.net/profile/Mohamed_Mourad_Lafifi/post/Model_to_estimate_Angular_velocity_angular_acceleration_path_length_from_attitude/attachment/59d64db779197b80779a739c/AS%3A489552818249730%401493729895900/download/Lecture+L25+-+3D+Rigid+Body+Kinematics.pdf