# angular velocity wrt another frame

Given an IMU message containing **orientation**, `angular_velocity`

and **linear_acceleration**, if I change the **orientation** (i.e. apply a rotation), then to get the **linear_acceleration** in the new frame of reference I simply rotate the **linear_acceleration** vector by the same rotation matrix.

Does the same hold for the `angular_velocity`

?

My understanding is that the `angular_velocity`

found in ROS messages (IMU, twist, etc.) is expressed as time derivative of *rpy* angles, so it is not an element of a vector space. Does it make sense to multiply it by a rotation matrix to get its representation with respect to a new frame?
If `angular_velocity`

was a real vector (commonly denoted as *omega*), then that process would be correct. But I'm not sure how I can apply a rotation in the case of time derivative of *rpy*.