Hi, I have two questions related to angular velocity: 1. According to rotational damper, Torque = Viscous Damping Coefficient * Angular Velocity. This equation gives the unit of Angular Velocity as meter square per second. How is it equivalent to rad per second? 2. If I have an angular velocity with it's three components ωx, ωy and ωz, how can I get the rotation matrix? Thank you.