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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 dcmdottoang_vel(R,Rdot):
 """Convert a rotation matrix to angular velocity w - angular velocity in inertial frame Omega - angular velocity in body frame """

    w = vee_map(Rdot.dot(R.T))
    Omega = vee_map(R.T.dot(Rdot))

    return (w, Omega)