{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import sympy as sm\n",
    "import sympy.physics.mechanics as me\n",
    "me.init_vprinting()\n",
    "\n",
    "A = me.ReferenceFrame('A')\n",
    "B = me.ReferenceFrame('B')\n",
    "\n",
    "theta = me.dynamicsymbols('theta')\n",
    "\n",
    "B.orient_axis(A, theta, A.y)\n",
    "\n",
    "Q = 3*me.outer(B.x, A.z) + 4*me.outer(A.x, A.x) + 6*me.outer(A.z, B.z)"
   ]
  }
 ],
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   "file_extension": ".py",
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