def constantrotating_to_static(frame_r, frame_i, w, t=None):
    """
    Transform from a constantly rotating frame to a static, inertial frame.

    Parameters
    ----------
    frame_i : `~gala.potential.StaticFrame`
    frame_r : `~gala.potential.ConstantRotatingFrame`
    w : `~gala.dynamics.PhaseSpacePosition`, `~gala.dynamics.Orbit`
    t : quantity_like (optional)
        Required if input coordinates are just a phase-space position.

    Returns
    -------
    pos : `~astropy.units.Quantity`
        Position in static, inertial frame.
    vel : `~astropy.units.Quantity`
        Velocity in static, inertial frame.
    """
    return _constantrotating_static_helper(frame_r=frame_r, frame_i=frame_i,
                                           w=w, t=t, sign=-1.)