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It's the question number 1 in aircraft Flight dynamics and control by Durham

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Problems
1. Assume a flat-Earth, stationary atmosphere, and symmetric aircraft. A fighter aircraft
has an accelerometer mounted at body-fixed coordinates rx, ry, and r2. At a partic-
ular instant while maneuvering the accelerometer measures inertial accelerations in
the body-axis system with components gx, gy, and gz. Gyroscopes mounted at the
center of gravity measure p, q, r, p, q, and r. Write an expression for the inertial
acceleration of the aircraft at its center of gravity, expressed in FB.

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