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)