Inertial reference frame
Simscape / Multibody / Frames and Transforms
This block represents the global reference frame in a model. This frame is inertial and at absolute rest. Rigidly connecting a frame to the World frame makes that frame inertial. Frame axes are orthogonal and arranged according to the right-hand rule.
In a frame network, the World frame is the ultimate reference frame. Directly or indirectly, all other frames are defined with respect to the World frame. If multiple World Frame blocks connect to the same frame network, those blocks identify the same frame. If no World Frame block connects to a frame network, a copy of an existing frame, frozen in its initial position and orientation, serves as the World frame.
W — World frame
World frame represented by the block. Connect to another frame to fix the position and orientation of that frame to the world frame.