4) A fighter aircraft has an accelerometer mounted at body-fixed coordinates \( r_{x}, r_{y}, r_{z} \). At a particular instant while maneuvering, the accelerometer measures inertial accelerations in the body-axis system with components \( g_{x}, g_{y}, g_{z} \). Gyroscopes mounted at the center of gravity measure a rotational angular velocity of \( p, q, r \) (in body-axes) and rotational angular acceleration of \( \dot{p}, \dot{q}, \dot{r} \) (in body-axes). Write an expression for the inertial acceleration of the aircraft at its center of gravity, expressed in body-axes.
