# Chain rule help (Statics and Dynamics)?

http://imageshack.us/f/805/chainh.jpg/

How does r turn into r "dot" ect. I understand basic chain rules for calculus, like derivative of inside then outside, but I don't understand this. Thanks

How does r turn into r "dot" ect. I understand basic chain rules for calculus, like derivative of inside then outside, but I don't understand this. Thanks

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