An object with known initial orientation and angular velocity $\omega_0$ is subjected to constant angular acceleration $\alpha$. Its final orientation at time $t$ is some rotation of its initial orientation. How can I find this rotation?
Angular velocity and acceleration are 3D vectors. Note, $\alpha$ is not necessarily parallel to $\omega_0$, so you can't just use the rotation $\omega_0 t+\alpha t^2$ about a common axis.
EDIT: That should be $\omega_0 t+(\alpha /2) t^2$
Thanks.