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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 ang_veltoaxisangledot(angle, axis, Omega):
 """Compute kinematics for axis angle representation """

    angle_dot = axis.dot(Omega)
    axis_dot = 1/2*(hat_map(axis) - 1/np.tan(angle/2) * hat_map(axis).dot(hat_map(axis))).dot(Omega)
    return angle_dot, axis_dot