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Possible discrepancy in acceleration calculation in 6DOF block where centripetal acceleration is being added to body frame acceleration?

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glob on 28 Dec 2019
Edited: Collin Russo on 14 Feb 2020
In the documentation, above, it says:
However in the block, it seems to me that instead. If someone could tell me which is correct or if I have misunderstood something please do.

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