\dot{\alpha} \overrightarrow{k}{}_0 + \dot{\beta} \overrightarrow{i}{}_0

\dot{\psi} \overrightarrow{j}{}_1 + \dot{\alpha} \overrightarrow{k}{}_0 + \dot{\beta} \overrightarrow{i}{}_0

\dot{\psi} \overrightarrow{j}{}_1 + \dot{\alpha} \overrightarrow{k}{}_1

\dot{\psi} \overrightarrow{j}{}_1

\dot{\beta} \overrightarrow{i}{}_0

- \dot{\alpha} \overrightarrow{k}{}_1

\dot{\alpha} \overrightarrow{k}{}_1