clear all; close all; clc;

syms I11 I22 I33 I11dot I22dot I33dot

I =  [I11 0 0; 0 I22 0; 0 0 I33];
Idot =  [I11dot 0 0; 0 I22dot 0; 0 0 I33dot];

syms yaw pitch roll yawdot pitchdot rolldot yawddot pitchddot rollddot

w = 

I *