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In [[physics]], the '''angular velocity tensor''' is defined as a matrix T such that:
:<math>
\boldsymbol\omega(t) \times A(t)\mathbf{r}_0 = T(t)A(t)\mathbf{r}_0 =
\begin{pmatrix}
0 & -\omega_z(t) & \omega_y(t) \\
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