This is something I've been struggling for about 3 days now. Either I'm missing something or should go back to physics 101

Scenario:

Inertial frame of reference. This is Cartesian, right handed and denoted O.

Moving and rotating non-inertial frame of reference. This is Cartesian, right handed and denoted A. This frame does not have a predefined

path, velocity or "nicely defined" Omega. It basically does what it wants.

An object moving in space, denoted B.

Givens (ALL DATA GIVEN IN THE INERTIAL SYSTEM O):

Position and velocities of the object, i.e. Px,Py,Pz,Vx,Vy,Yz.

Position and velocities of the the A frame.

and here's the catch: direction of the unit axial vectors of A. if i,j and k are the (unit vector) axis of the non-inertial system A and x, y and z are

those of O, we have only i(x,y,z), j(x,y,z) and k(x,y,z).

We do not have explicit Omega, or rate of angular rotation. I hope this can be derived from the direction of the unit vectors of A.

We have real time data flowing, meaning we can have an instatenous dataset, applicable to now and the last dataset. no history data available.

This is actually a part of a real-time system.

Need to derive:

Position and Velocity of B in the A frame. The challenge is not being given Omega.

Thanks, Gabriel