AngularVelocity[a1,a2]

a1, a2: name of defined triads

The function AngularVelocity returns the angular velocity of the triad a2 relative to the triad a1.

Remember to invoke DeclareStates prior to using AngularVelocity.

Restart;
DeclareTriads[a,b];
DefineTriads[a,b,{q1,1},{q2,3},{q3,1}];
DeclareStates[q1,q2,q3];
AngularVelocity[a,b]

$\left\{''Type''\to ''Vector'',''Size''\to 1,1\to \left\{''Coordinates''\to \left\{\mathrm{Cos}\left[\mathrm{q2}\right]{\mathrm{q1}}^{\prime }+{\mathrm{q3}}^{\prime },-\mathrm{Cos}\left[\mathrm{q3}\right]\mathrm{Sin}\left[\mathrm{q2}\right]{\mathrm{q1}}^{\prime }+\mathrm{Sin}\left[\mathrm{q3}\right]{\mathrm{q2}}^{\prime },\mathrm{Sin}\left[\mathrm{q2}\right]\mathrm{Sin}\left[\mathrm{q3}\right]{\mathrm{q1}}^{\prime }+\mathrm{Cos}\left[\mathrm{q3}\right]{\mathrm{q2}}^{\prime }\right\},''Triad''\to b\right\}\right\}$

LinearVelocity, DeclareStates