Dear all, I am missing some insight concerning dynamic mechanics: 1. Problem statement A angular rate sensor is attached to a massive body. I would like to calculate the velocity of a certain point on that body due to rotational motion of the body itself. 2. Relevant equations The whole problem, equations and question have been described in detail in a pdf file 3. The attempt at a solution I proposed two approaches. Who can tell me which one is wrong and why. I cannot figure it out myselve. Many thanks!