Para calcular cúbicas, utilizamos o método de Elon, denominado Método do Referencial móvel:

\(\begin{align} & d{{\omega }_{1}}={{\omega }_{2}}\hat{\ }{{\omega }_{21}}+{{\omega }_{3}}\hat{\ }{{\omega }_{31}} \\ & d{{\omega }_{2}}={{\omega }_{1}}\hat{\ }{{\omega }_{12}}+{{\omega }_{3}}\hat{\ }{{\omega }_{32}} \\ & \,d{{\omega }_{3}}={{\omega }_{1}}\hat{\ }{{\omega }_{13}}+{{\omega }_{2}}\hat{\ }{{\omega }_{23}} \\ & d{{\omega }_{12}}={{\omega }_{13}}\hat{\ }{{\omega }_{32}} \\ & d{{\omega }_{13}}={{\omega }_{12}}\hat{\ }{{\omega }_{23}} \\ & d{{\omega }_{23}}={{\omega }_{21}}\hat{\ }{{\omega }_{13}} \\ & \\ & (x{{\omega }_{3}})(v)={{\omega }_{3}}(dx(v)) \\ & (x{{\omega }_{3}})(v)={{\omega }_{3}}\left( {{\alpha }_{1}}{{e}_{1}}+{{\alpha }_{2}}{{e}_{2}} \right) \\ & x{{\omega }_{i}}={{\omega }_{i}} \\ & x{{\omega }_{j}}={{\omega }_{j}} \\ \end{align}\ \)

\(\boxed{x{w_j} = {w_j}}\)