Formula_22199

\[\begin{gathered}\omega_{x}=\dot{\psi} \sin \theta \sin \varphi+\dot{\theta} \cos \varphi, \\\omega_{y}=\dot{\psi} \sin \theta \cos \varphi-\dot{\theta} \sin \varphi, \\\omega_{z}=\dot{\varphi}+\dot{\psi} \cos \theta,\end{gathered}\]