**2.3 Dynamics**

All matter that exists in our universe must adhere to certain differential equations determining its motion. By analysing the physical properties of an AUV, a set of equations can be derived that determine the motion of this vehicle through a fluid, such as water. To assist in reducing the complexities of these equations, certain frames of reference are utilised depending on the properties that each frame of reference possesses. In order to make use of these different reference frames for different purposes, the process of transforming information from one frame to another must be conducted.
