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Solve the following problem using Python, implementing the functions described below, one line at a time
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Description:
 def vel_in_A_to_vel_in_B(vel_A, ang_vel_A, pose_A_in_B):
 """ Converts linear and angular velocity of a point in frame A to the equivalent in frame B. Args: vel_A: 3-dim iterable for linear velocity in A ang_vel_A: 3-dim iterable for angular velocity in A pose_A_in_B: numpy array of shape (4,4) corresponding to the pose of A in frame B Returns: vel_B, ang_vel_B: two numpy arrays of shape (3,) for the velocities in B """

    pos_A_in_B = pose_A_in_B[:3, 3]
    rot_A_in_B = pose_A_in_B[:3, :3]
    skew_symm = _skew_symmetric_translation(pos_A_in_B)
    vel_B = rot_A_in_B.dot(vel_A) + skew_symm.dot(rot_A_in_B.dot(ang_vel_A))
    ang_vel_B = rot_A_in_B.dot(ang_vel_A)
    return vel_B, ang_vel_B