The body-fixed axes of the spacecraft in Figure 9.38 are obtained after a 3-1-3 Euler angle transformation (φ, θ, ψ). Inside the spacecraft is a tube, and a mass slides inside the tube. Calculate the...

The body-fixed axes of the spacecraft in Figure 9.38 are obtained after a 3-1-3 Euler angle transformation (φ, θ, ψ). Inside the spacecraft is a tube, and a mass slides inside the tube. Calculate the velocity of the sliding mass in the inertial a1a2a3 as well as body-fixed b1b2b3 frames.