<jupyter_start><jupyter_text>Exploring reference frame<jupyter_code>import sympy as sp
import sympy.physics.mechanics as me
psi = me.dynamicsymbols('psi')
x0,y0 = me.dynamicsymbols('x0 y0')
x01d,y01d = me.dynamicsymbols('x0 y0',1)

u,v = me.dynamicsymbols('u v')
N = me.ReferenceFrame('N')
B = N.orientnew('B','Axis',[psi,N.z])
B.dcm(N)<jupyter_output><empty_output><jupyter_text>V2pt_theory<jupyter_code>O = me.Point('O')
P = O.locatenew('P',10*B.x)
O.set_vel(N,x0*N.x + y0*N.y)
P.v2pt_theory(O,N,B)
P.vel(N).to_matrix(N)<jupyter_output><empty_output><jupyter_text>V1pt_theory<jupyter_code>O = me.Point('O')
P = O.locatenew('P',0)
O.set_vel(N,0)
P.set_vel(B,u*B.x + v*B.y)
P.v1pt_theory(O,N,B)
P.vel(N).to_matrix(N)<jupyter_output><empty_output><jupyter_text>Bludder<jupyter_code>O = me.Point('O')
O.set_vel(N,0)

P = me.Point('P')
P.set_pos(O,x0*N.x + y0*N.y)
P.set_vel(B,u*B.x + v*B.y)

P.v1pt_theory(O,N,B)
P.vel(N).to_matrix(N)<jupyter_output><empty_output>
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