Hello, all!

I am currently working with the governing equation of a rotating, translating rigid body. That is:

[LaTeX Error: Can't write to directory]

Where [LaTeX Error: Can't write to directory] is the linear acceleration of some point on the body [LaTeX Error: Can't write to directory], [LaTeX Error: Can't write to directory] is the linear acceleration of the centroid of the body, [LaTeX Error: Can't write to directory] is the angular acceleration of the body, [LaTeX Error: Can't write to directory] is the angular velocity of the body, and [LaTeX Error: Can't write to directory] is the vector from the centroid to the point [LaTeX Error: Can't write to directory].

Given some [LaTeX Error: Can't write to directory] and [LaTeX Error: Can't write to directory], how can I rework a system of two of those equations such that I can back out [LaTeX Error: Can't write to directory] (related to omega by the differential) and [LaTeX Error: Can't write to directory]? That is:
[LaTeX Error: Can't write to directory]
[LaTeX Error: Can't write to directory]

To give another way of viewing the problem: If I mount two accelerometers on a body and then rotate and translate the body in space, how can I determine what those body rotations and translations are based off the readings of my two accelerometers? I should only need two accelerometers (read: two equations) because there are only two unknowns, [LaTeX Error: Can't write to directory] and [LaTeX Error: Can't write to directory].

Thank you for the help!