This book introduces you to the analysis of general movements in 3D space.
Chapter 1 introduces the basic conventions (although I assume that you are familiar with basic linear algebra and trigonometry). Chapter 2 introduces rotation matrices, and Chapter 3 quaternions. In Chapter 4 we move from static descriptions to movements, and introduce the description of angular velocity. Finally, in Chapter 5 we explicitly describe how 3D position and velocity can be analyzed, based on data from i) 3d position measurements, and ii) from inertial measurement units.