Let us define the z-axis equal to to the direction
of the angular velocity vector .
The variables in the coordinate system **K**
and those in the co-rotational system **K'**
are related by the rotation matrix as

(11) |

(12) |

Here we occasionally used the relation (10) whenever applicable. Multiplication of the inversed rotation matrix from left-side to the equation above then leads to

Using the Newtonian equation of motion

(14) |

we finally obtain

(16) | |||

(17) |

One finds the apparent force term by .

2003-01-15