anchor.diff:     u%RootMotion%RotationAcc(:,1)     = MATMUL(TRANSPOSE(RotTen),u%RootMotion%RotationAcc(:,1))
      ! Transform DCM to Rotation Tensor (RT)
      u%RootMotion%Orientation(:,:,1) = TRANSPOSE(u%RootMotion%Orientation(:,:,1))
  +   CALL BD_CrvExtractCrv(u%RootMotion%Orientation(1:3,1:3,1),temp_v,ErrStat2,ErrMsg2)
  +      CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
  +   temp_v2(1) = temp_v(3)
  +   temp_v2(2) = temp_v(1)
  +   temp_v2(3) = temp_v(2)
  +   CALL BD_CrvMatrixR(temp_v2,u%RootMotion%Orientation(:,:,1),ErrStat2,ErrMsg2)
  +      CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
      ! Transform Applied Forces from Global to Local (Blade) frame
      DO i=1,p%node_total
  +       temp_v(:) = u%PointLoad%Force(1:3,i)
  +       u%PointLoad%Force(1,i) = temp_v(3)
  +       u%PointLoad%Force(2,i) = temp_v(1)
  +       u%PointLoad%Force(3,i) = temp_v(2)
          u%PointLoad%Force(1:3,i)  = MATMUL(TRANSPOSE(RotTen),u%PointLoad%Force(:,i))
  +       temp_v(:) = u%PointLoad%Moment(1:3,i)
  +       u%PointLoad%Moment(1,i) = temp_v(3)
  +       u%PointLoad%Moment(2,i) = temp_v(1)
  +       u%PointLoad%Moment(3,i) = temp_v(2)
          u%PointLoad%Moment(1:3,i) = MATMUL(TRANSPOSE(RotTen),u%PointLoad%Moment(:,i))
      ENDDO
      DO i=1,p%ngp * p%elem_total + 2
  +       temp_v(:) = u%DistrLoad%Force(1:3,i)
  +       u%DistrLoad%Force(1,i) = temp_v(3)
  +       u%DistrLoad%Force(2,i) = temp_v(1)
  +       u%DistrLoad%Force(3,i) = temp_v(2)
          u%DistrLoad%Force(1:3,i)  = MATMUL(TRANSPOSE(RotTen),u%DistrLoad%Force(:,i))
  +       temp_v(:) = u%DistrLoad%Moment(1:3,i)
  +       u%DistrLoad%Moment(1,i) = temp_v(3)
  +       u%DistrLoad%Moment(2,i) = temp_v(1)
  +       u%DistrLoad%Moment(3,i) = temp_v(2)
          u%DistrLoad%Moment(1:3,i) = MATMUL(TRANSPOSE(RotTen),u%DistrLoad%Moment(:,i))
      ENDDO
   
  
positive.code:        DO j=1,p%node_elem
             temp_id = ((i-1)*(p%node_elem-1)+j-1)*p%dof_node
             temp_id2= (i-1)*p%node_elem+j
             y%BldMotion%TranslationDisp(1:3,temp_id2) = MATMUL(p%GlbRot,x%q(temp_id+1:temp_id+3))
             cc(1:3) = x%q(temp_id+4:temp_id+6)
             temp_id = (j-1)*p%dof_node
             cc0(1:3) = p%uuN0(temp_id+4:temp_id+6,i)
             CALL BD_CrvCompose(temp_cc,cc0,cc,0,ErrStat2,ErrMsg2)
                 CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
             temp_cc = MATMUL(p%GlbRot,temp_cc)
             CALL BD_CrvCompose(temp_cc,temp_cc,temp_glb,0,ErrStat2,ErrMsg2)
                 CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
             CALL BD_CrvMatrixR(temp_cc,temp_R,ErrStat2,ErrMsg2)
                 CALL SetErrStat( ErrStat2, ErrMsg2, ErrStat, ErrMsg, RoutineName )
             y%BldMotion%Orientation(1:3,1:3,temp_id2) = TRANSPOSE(temp_R(1:3,1:3))
  
             temp_id = ((i-1)*(p%node_elem-1)+j-1)*p%dof_node
             y%BldMotion%TranslationVel(1:3,temp_id2) = MATMUL(p%GlbRot,x%dqdt(temp_id+1:temp_id+3))
             y%BldMotion%RotationVel(1:3,temp_id2) = MATMUL(p%GlbRot,x%dqdt(temp_id+4:temp_id+6))
         ENDDO
     ENDDO
  
  
negative.code:    temp6(:) = 0.0D0
     IF(p%analysis_type .EQ. 2) THEN
         temp6(1:6) = -OS_tmp%Acc(1:6)
         temp_cc(:) = MATMUL(p%GlbRot,temp6(1:3))
         y%ReactionForce%Force(1,1) = temp_cc(2)
         y%ReactionForce%Force(2,1) = temp_cc(3)
         y%ReactionForce%Force(3,1) = temp_cc(1)
         temp_cc(:) = MATMUL(p%GlbRot,temp6(4:6))
         y%ReactionForce%Moment(1,1) = temp_cc(2)
         y%ReactionForce%Moment(2,1) = temp_cc(3)
         y%ReactionForce%Moment(3,1) = temp_cc(1)
     ENDIF
     DO i=1,p%node_total
         temp_id = (i-1)*p%dof_node
         temp6(:) = 0.0D0
         temp6(:) = temp_Force(temp_id+1:temp_id+6)
         temp_cc(:) = MATMUL(p%GlbRot,temp6(1:3))
         y%BldForce%Force(1,i) = temp_cc(2)
         y%BldForce%Force(2,i) = temp_cc(3)
         y%BldForce%Force(3,i) = temp_cc(1)
         temp_cc(:) = MATMUL(p%GlbRot,temp6(4:6))
         y%BldForce%Moment(1,i) = temp_cc(2)
         y%BldForce%Moment(2,i) = temp_cc(3)
         y%BldForce%Moment(3,i) = temp_cc(1)
     ENDDO
  
     call cleanup()
  