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I am having some difficulty calculating the angular velocity of the arm trhough a partial movement (phase). The data set I have separates the angular velocity into the three axes, X, Y and Z.

If I use the following method I get 1.3977 radians per second which seems close to what I need:

- Find the total of each axis
- Find the average of these values
- Find the square root of the squared average values
- Divide this value by the change in time

- Find the square root of the squared average values for the angles at the start of the phase
- Find the square root of the squared average values for the angles at the end of the phase
- Subtract the final angle from initial angle
- Divide this value by the change in time

I can take a rough estimate if my thinking is clear. If the phase of the arm motion moves roughly through 90 (degrees) and it takes on average about 0.7 seconds then that would equal to approximately 128 (degrees) per second or 2.2 radians per second.

The data set does have the angular velocity for each of the axes, however if I take the square root of squared value of the average of total sum of each axis I get around 55 radians per second which seems excessively high.

Do you know which method would be best to use or if I am looking at this problem completely wrong?

Thank you in advance to anyone who can help and if any further information or clarification is required I can try to explain further.