Confused about this Rotation Matrix/time derivative problem

Question

Find an explicit expression for ω such that dR dt = S(ω)R. Where R is: R = Rz,ϕ Ry,θ Rx,ψ

State your answers in terms of ϕ˙ ψ˙ ˙θ θ ϕ ψ.

Answer 1

Not really sure what you are asking based on the way you typed in the question. However, I did some research and this looks like an engineering robotics problem or something in relation to that. I found a decent lecture on the topic that seems to be what you are asking. You should review this and repost the question with a more clearly written questions afterward.

homes.cs.washington.edu/~todorov/courses/cseP590/05_Kinematics.pdf