Let w = (w1, w2, w3) wrt to the body frame of a rigid body, where the body frame is right-handed orthonormal. I have gathered 2 definitions of w from different sources and I am confused at how they connect to one another. One is that the RB rotates about w through its CoM at rate abs(w), the other is that each component of w represents the rate at which the RB rotates about that particular basis axis. Does this mean we can somehow add the 3 rotations (which are about different axes) and get an equivalent rotation about some other (single) axis? Thanks!