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I have a question about using datas coming from an imu on a vehicle.

The IMU is placed near the rear wheel axle of the vehicle. The reference frame for vehicle control is placed between rear wheels.

I need to find what are the acceleration values on a point placed between the front wheels of the vehicle.

From what I have read the yaw rate (angular velocity) should be the same on any points of a rigid body. But for linear acceleration (tangential,...), the value will depend of the position of the point inside the vehicle, right ?

So how can I find this linear acceleration value ? Do I just need a transformation matrix to compute it ?

Thanks in advance for any answers or link to a documentation.

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