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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 axisangledottoang_vel(angle,axis, angle_dot,axis_dot):
 """Convert axis angle represetnation to angular velocity in body frame """

    
    Omega = angle_dot*axis + np.sin(angle)*axis_dot - (1-np.cos(angle))*hat_map(axis).dot(axis_dot)
    return Omega