Variable qx'', qy'', qz''
RigidFrame N, B

% Set the rotation matrix and automatically calculate the angular velocity and acceleration (not quite the acceleration)
B.rotate(N,bodyxyz,qx,qy,qz)

% Calculate the angular velocity manually according to eqn 7.3 (7.4 would have worked too). The command express(by>,N) could also have been useful. 
w_B_N_manual> = dot(dt(by>,N),bz>)*bx> + dot(dt(bz>,N),bx>)*by>+dot(dt(bx>,N),by>)*bz>

% Check if both results are the same… 
W_B_N>-W_B_N_manual>