1. The problem statement, all variables and given/known data I'm given an angular velocity tensor as shown. From this, I can extract the angular velocity. As I understand it, the angular velocity tensor matrix is the derivative of the rotation matrix. I have to determine the rotation matrix after t seconds. 2. Relevant equations 3. The attempt at a solution From this, I could extract the angular velocity, convert it to a quaternion, multiply it by t and then convert it to a rotation matrix, but I'm not sure if this is the way to go.