code: def test_auto_point_vel_connected_frames():
      t = dynamicsymbols._t
      q, q1, q2, u = dynamicsymbols("q q1 q2 u")
      N = ReferenceFrame("N")
      B = ReferenceFrame("B")
      O = Point("O")
      O.set_vel(N, u * N.x)
      P = Point("P")
      P.set_pos(O, q1 * N.x + q2 * B.y)
      raises(ValueError, lambda: P.vel(N))
      N.orient(B, "Axis", (q, B.x))
      assert (
          P.vel(N)
          == (u + q1.diff(t)) * N.x
          + q2.diff(t) * B.y
          - q2 * q.diff(t) * B.z
      )
  
imports: from sympy.physics.vector import dynamicsymbols, Point, ReferenceFrame
  from sympy.testing.pytest import raises, ignore_warnings
  import warnings
label_desc: Use image node_id 14 for calling a global function with example usage: test_auto_point_vel_connected_frames() without return types