Wolfram Cloud Document

In[]:=

R

1

={{1,0,0},{0,Cos[

θ

1

[t]],Sin[

θ

1

[t]]},{0,-Sin[

θ

1

[t]],Cos[

θ

1

[t]]}};

R

2

={{1,0,0},{0,Cos[

θ

1

],Sin[

θ

1

]},{0,-Sin[

θ

1

],Cos[

θ

1

]}};D[

R

1

,t]D[

R

2

,t]D[

R

2

]

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]}}

Out[]=

{{0,0,0},{0,0,0},{0,0,0}}

Out[]=

{{1,0,0},{0,Cos[

θ

1

],Sin[

θ

1

]},{0,-Sin[

θ

1

],Cos[

θ

1

]}}