$\omega$ is a 3×1 vector and $I$ is a constant 3×3 matrix. What is the derivative respect to vector $\omega$? It would be appreciated if you could show me any references I can refer to. $$\frac{d(\omega \times I\omega)}{\omega}=?$$
2026-03-25 13:56:27.1774446987
Derivative of cross-product of two vectors with respect to vector
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Add $\varepsilon$ times a basis vector and look at the terms with a single $\epsilon$. That will be the corresponding column of the derivative matrix.