{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "import sympy as sm\n",
    "import sympy.physics.mechanics as me\n",
    "me.init_vprinting(use_latex='mathjax')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/latex": [
       "$\\displaystyle \\dot{u}_{yaw}\\mathbf{\\hat{a}_y}$"
      ],
      "text/plain": [
       "u_ẏaw a_y"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "A = me.ReferenceFrame('A')\n",
    "D = me.ReferenceFrame('D')\n",
    "q_yaw, q_drtr, q_geaz= me.dynamicsymbols('q_yaw, q_drtr, q_geaz')\n",
    "u_yaw, u_drtr, u_geaz = me.dynamicsymbols('u_yaw, u_drtr, u_geaz')\n",
    "D.orient_axis(A, q_yaw, A.y)\n",
    "D.set_ang_vel(A, u_yaw * A.y)\n",
    "\n",
    "D.ang_acc_in(A)"
   ]
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "MinerU",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.10.16"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}