anchor.diff:        m%UL_dotdot     = 0.0_ReKi
         ! --- CB modes contribution to motion (L-DOF only)
         if ( p%nDOFM > 0) then
  -         if (p%Floating) then ! >>> New
  -            udotdot_TP(1:3) = matmul(Rg2b, u%TPMesh%TranslationAcc( :,1))
  -            udotdot_TP(4:6) = matmul(Rg2b, u%TPMesh%RotationAcc(:,1)    )
  -         else
  -            udotdot_TP = (/u%TPMesh%TranslationAcc( :,1), u%TPMesh%RotationAcc(:,1)/)
  -         endif
  +         !if (p%Floating) then ! >>> Rotate All
  +         !   udotdot_TP(1:3) = matmul(Rg2b, u%TPMesh%TranslationAcc( :,1))
  +         !   udotdot_TP(4:6) = matmul(Rg2b, u%TPMesh%RotationAcc(:,1)    )
  +         !else
  +         udotdot_TP = (/u%TPMesh%TranslationAcc( :,1), u%TPMesh%RotationAcc(:,1)/)
  +         !endif
            m%UL            = matmul( p%PhiM,  x%qm    )
            m%UL_dot        = matmul( p%PhiM,  x%qmdot )
            m%UL_dotdot     = matmul( p%C2_61, x%qm    )    + matmul( p%C2_62   , x%qmdot )    & 
  
positive.code:       CALL GetExtForceOnInternalDOF(u, p, x, m, m%F_L, ErrStat2, ErrMsg2, ExtraMoment=(p%ExtraMoment.and..not.p%Floating), RotateLoads=(p%ExtraMoment.and.p%Floating))
  
        udotdot_TP = (/u%TPMesh%TranslationAcc(:,1), u%TPMesh%RotationAcc(:,1)/)
        if (p%Floating) then
           ! >>> New udotdot_TP to body coordinates
           udotdot_TP(1:3) = matmul( u%TPMesh%Orientation(:,:,1), udotdot_TP(1:3) ) 
           udotdot_TP(4:6) = matmul( u%TPMesh%Orientation(:,:,1), udotdot_TP(4:6) ) 
        endif
        
        ! State equation
        dxdt%qm= x%qmdot
  
negative.code:       if (nCB>0) then
           CC(1:nY,1:nCB )   = - p%C1_11
           CC(1:nY,nCB+1:nX) = - p%C1_12
           !if (p%Floating .and. present(u)) then
           !   CC(1:3,:) = matmul(transpose(u%TPMesh%Orientation(:,:,1)), CC(1:3,:)) ! >>> Rotate All
           !   CC(4:6,:) = matmul(transpose(u%TPMesh%Orientation(:,:,1)), CC(4:6,:)) ! >>> Rotate All
           !endif
        endif
     endif
  
  