Description:

The coordinate system is right hand rule. X cross Y gives Z and Roll is right hand rule about X, Pitch is right hand rule about Y, and Yaw is right hand rule about Z.

Vector Storage:

All linear three vectors (AccelIn) store their values as [X, Y, Z].
All angular three vectors (CGAngVel) store their values as [Roll, Pitch, Yaw].

The AccelOffset component calculates the local linear acceleration at the offset given in Offset. Offset is a vector from the CG to the offset location given in the local coordinates of the body.
 

SimRealVar AccelIn[3] - Local Acceleration at CG (m/s/s)
SimRealVar CGAngVel[3] - Local Angular Velocity at CG (rad/s)
SimRealVar CGAngAccel[3] - Local Angular Acceleration at CG (rad/s/s)
SimRealVar Offset[3] - Local CG to Offset Vector (m)
 

SimRealVar AccelOut[3] - Local Accel at Offset (m/s/s)
 

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