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‫Welcome back.

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‫So this is the solution for you, for one way to do it is like this, you add a bit of rotation to M2

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‫and enforced by Delta A radians per second, and you decrease rotation in M1 and M3 by Delta B radians

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‫per second.

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‫Now the clockwise turning propellers turn faster than the counterclockwise turning propellers.

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‫That's like a chopper without a tail.

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‫The wave starts rotating counterclockwise around the body frame z axis and makes sense because the propellers

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‫that rotate clockwise dominate.

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‫And so the network that the propellers experiences, the drone itself experiences a talk that has equal

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‫magnitude.

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‫But it has the opposite direction.

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‫The relation between the your control action torque you for which units are Knewton meters and the acceleration

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‫around the body from the axis side, double that.

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‫Considering that there are no other talks present, then the relationship between them is the following.

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‫EUFOR equals the mass movement of inertia about the body frame Z axis times side double dot, which

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‫is the angular acceleration and its units are radians per second squared.