<reponame>pydy/pydy-tutorial-human-standing<filename>notebooks/exercise_solutions/n03_kinematics_define-angular-velocity.py
lower_leg_frame.set_ang_vel(inertial_frame, omega1 * inertial_frame.z)
lower_leg_frame.ang_vel_in(inertial_frame)

upper_leg_frame.set_ang_vel(lower_leg_frame, omega2 * inertial_frame.z)
upper_leg_frame.ang_vel_in(inertial_frame)

torso_frame.set_ang_vel(upper_leg_frame, omega3 * inertial_frame.z)
torso_frame.ang_vel_in(inertial_frame)
lower_leg_frame.set_ang_vel(inertial_frame, omega1 * inertial_frame.z)
lower_leg_frame.ang_vel_in(inertial_frame)

upper_leg_frame.set_ang_vel(lower_leg_frame, omega2 * inertial_frame.z)
upper_leg_frame.ang_vel_in(inertial_frame)

torso_frame.set_ang_vel(upper_leg_frame, omega3 * inertial_frame.z)
torso_frame.ang_vel_in(inertial_frame)