# Show me a derivation of the BKE

For any of you advanced dynamics people, can you please show me a derivation of the BKE. (Basic Kinematic Equation)

The BKE is.....

e d/dt(Vector) = u d/dt(Vector) + omega between e and u X (Vector)

sometimes an additional term is added which is the linear velocity between the frames but for some simplicity lets assume this is zero.

e is the inertial frame
and u is the working frame

omega is the angular velocity
X is the cross product operator

I know just by looking at a simple single rotation problem, the solution is trivial but does anyone know of a formal proof?

FredGarvin