In[]:=
R
1
={{1,0,0},{0,Cos[
θ
1
[t]],Sin[
θ
1
[t]]},{0,-Sin[
θ
1
[t]],Cos[
θ
1
[t]]}};
In[]:=
displayR1=
R
1
/.
θ
n_
[t]->
θ
n
//TraditionalForm
Out[]//TraditionalForm=
1
0
0
0
cos(
θ
1
)
sin(
θ
1
)
0
-sin(
θ
1
)
cos(
θ
1
)
In[]:=
DR1=D[
R
1
,t]
Out[]=
{{0,0,0},{0,-Sin[
θ
1
[t]]
′
θ
1
[t],Cos[
θ
1
[t]]
′
θ
1
[t]},{0,-Cos[
θ
1
[t]]
′
θ
1
[t],-Sin[
θ
1
[t]]
′
θ
1
[t]}}
In[]:=
displayDR1=DR1/.{
θ
n_
[t]->
θ
n
,
θ
n_
'[t]->
θ
n
'}//TraditionalForm
Out[]//TraditionalForm=
0
0
0
0
′
θ
1
(-sin(
θ
1
))
′
θ
1
cos(
θ
1
)
0
′
θ
1
(-cos(
θ
1
))
′
θ
1
(-sin(
θ
1
))