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   Computes the new angular rate when the inertia changes.
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   Form:
   omega = DeltaRate( InertiaOld, InertiaNew, omega )
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   Inputs
   ------
   inertiaOld     (3,3)  Old inertia
   inertiaOld     (3,3)  New inertia
   omega          (3,1)  Angular rate
 
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   Outputs
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   omegaNew       (3,1)  Angular rate

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