Transform sensor local velocity

I am trying to model a boat in Simscape (I am using it since 3 weeks so I am really inexperienced). In the mathematical model that I am using there are two coordinate systems. One global coordinate system and one local ship fixed coordinate system, with its origin at the ship’s centre of gravity.

As you can see in the following image I am using a Rigid Transform in order to model the local coordinate system and it seems to me that I am applying the forces in the right way, but I am not sure. Do I?

I would need to know the speed and the acceleration of the ship according to the local coordinate system and I am trying to use a Transform Sensor but I really can't understand how to connect it.

Answer 1

[Alessandro Chiurco]

Could anybody help me? I am sure it is a easy question. I need to finish this test before the trial ends in order to understand if we should buy matlab. After that I will study better 😅 I also got covid yesterday and I can't work.