Is your feature request related to a problem? Please describe.
There are a few reference frames in kinematics/dynamics that are often useful, for example to relate kinematics to forces, or to express a kinematic quantity as components that are more interpretable.
Describe the solution you'd like
One option could be to treat these as change of basis operations. We could have a function that computes at each timestep the change of basis matrix from "world" coordinates to "intrinsic" coordinates. Then this matrix could be applied to the velocity or acceleration vector to express it in intrinsic coordinates.
Is your feature request related to a problem? Please describe. There are a few reference frames in kinematics/dynamics that are often useful, for example to relate kinematics to forces, or to express a kinematic quantity as components that are more interpretable.
For example (they may have better names):
Describe the solution you'd like One option could be to treat these as change of basis operations. We could have a function that computes at each timestep the change of basis matrix from "world" coordinates to "intrinsic" coordinates. Then this matrix could be applied to the velocity or acceleration vector to express it in intrinsic coordinates.