The Eulerian description of motion is discussed for a rigid body motion and the corresponding velocity and acceleration are shown. Some of the properties of the Q matrix are discussed in between while deriving the velocity and acceleration.
The video continues with the derivations for Eulerian velocity and acceleration of rigid body motion. Translational and angular velocity are seen at the start of the video. After the velocity, the Eulerian acceleration is derived and the translational and angular acceleration along with centripetal acceleration are seen.