anchor.diff:              y%BladeLn2Mesh(K)%TranslationAcc(1,NodeNum) =     LinAccES(1,J2,K)
               y%BladeLn2Mesh(K)%TranslationAcc(2,NodeNum) = -1.*LinAccES(3,J2,K)
               y%BladeLn2Mesh(K)%TranslationAcc(3,NodeNum) =     LinAccES(2,J2,K)  
  -!SP had this: FIXME: check if valid
  -!            y%BladeLn2Mesh(K)%RotationVel(1,NodeNum)     =     m%RtHS%AngVelHM(1,J2,K)
  -!            y%BladeLn2Mesh(K)%RotationVel(2,NodeNum)     = -1.*m%RtHS%AngVelHM(3,J2,K)
  -!            y%BladeLn2Mesh(K)%RotationVel(3,NodeNum)     =     m%RtHS%AngVelHM(2,J2,K) 
  -
  -!SP_start
  +
  +               ! Rotational Acceleration
               y%BladeLn2Mesh(K)%RotationAcc(1,NodeNum)     =     AngAccEK(1,J2,K)
               y%BladeLn2Mesh(K)%RotationAcc(2,NodeNum)     = -1.*AngAccEK(3,J2,K)
               y%BladeLn2Mesh(K)%RotationAcc(3,NodeNum)     =     AngAccEK(2,J2,K) 
  -!SP_end
                  
               
            END DO !J = 1,p%BldNodes ! Loop through the blade nodes / elements
  
positive.code:       DO J = 0,p%TipNode ! Loop through the blade nodes / elements
  
           LinAccES(:,J,K) = m%RtHS%LinAccESt(:,K,J)
  !SP_start
           AngAccEK(:,J,K) = m%RtHs%AngAccEKt(:,J,K)
  !SP_end
           DO I = 1,p%DOFs%NPSE(K)  ! Loop through all active (enabled) DOFs that contribute to the QD2T-related linear accelerations of blade K
              LinAccES(:,J,K) = LinAccES(:,J,K) + m%RtHS%PLinVelES(K,J,p%DOFs%PSE(K,I),0,:)*m%QD2T(p%DOFs%PSE(K,I))
  !SP_start
              AngAccEK(:,J,K) = AngAccEK(:,J,K) + m%RtHS%PAngVelEM(K,J,p%DOFs%PSE(K,I),0,:)*m%QD2T(p%DOFs%PSE(K,I))
  !SP_end
           ENDDO             ! I - All active (enabled) DOFs that contribute to the QD2T-related linear accelerations of blade K
  
        ENDDO             ! J - Blade nodes / elements
  
negative.code:                                       AngVelHM  =     x%QDT(DOF_BF(K,1))*RtHSdat%PAngVelEM(K,J,DOF_BF(K,1),0,:) &
                                                      + x%QDT(DOF_BF(K,2))*RtHSdat%PAngVelEM(K,J,DOF_BF(K,2),0,:) &
                                                      + x%QDT(DOF_BE(K,1))*RtHSdat%PAngVelEM(K,J,DOF_BE(K,1),0,:)
            RtHSdat%AngVelEM(:,J,K              ) =  RtHSdat%AngVelEH + AngVelHM
            RtHSdat%AngPosHM(:,K,J              ) =     x%QT (DOF_BF(K,1))*RtHSdat%PAngVelEM(K,J,DOF_BF(K,1),0,:) &
                                                      + x%QT (DOF_BF(K,2))*RtHSdat%PAngVelEM(K,J,DOF_BF(K,2),0,:) &
                                                      + x%QT (DOF_BE(K,1))*RtHSdat%PAngVelEM(K,J,DOF_BE(K,1),0,:)
           RtHSdat%AngAccEKt(:,J              ,K) =  RtHSdat%AngAccEHt + x%QDT(DOF_BF(K,1))*RtHSdat%PAngVelEM(K,J,DOF_BF(K,1),1,:) & 
                                                                       + x%QDT(DOF_BF(K,2))*RtHSdat%PAngVelEM(K,J,DOF_BF(K,2),1,:) & 
                                                                       + x%QDT(DOF_BE(K,1))*RtHSdat%PAngVelEM(K,J,DOF_BE(K,1),1,:)   
   
        ! Define the 1st derivatives of the partial angular velocities of the current node (body M(RNodes(J))) in the inertia frame:
  
  