A rectangular block rotates, with a constant angular velocity, around the diagonal as indicated.
This demo computes the position of the red ball, as a function of time.
It uses the exponential of a matrix (See text equations 4.25, 4.26) to compute the evolving rotation matrix in order to compute the path in the inertial frame.
The user can choose to view this motion in either the inertial frame or the moving frame, by using the associated buttons.