Skew-Symmetric Cross Product Matrix Formula

[!Skew-Symmetric Cross Product Matrix Formula]

$[{\omega }_{\mathcal{P}\mathcal{Q}}^{\mathcal{P}}{]}_{\times }={\dot{R}}_Q^{\mathcal{P}}(R_{\mathcal{Q}}^{\mathcal{P}}{)}^T$

Remember Skew-Symmetric Matrix

See Assignment 3 - Kinematics 2