[ODE] how to get local angular velocities?

[Alireza]

Hi everyone,

I had some basic questions and Im new in ODE environment! it would be great if
someone could help me out!

imagine 2 bodys connected together through a ball joint:

 -->> 1. To get euler angles of the second body in respect to another one, am I
obliged to define an AMotor on this joint ?? (in my application I dont need a
motor for this joint )

 -->> 2. To get angular velocities of the above-mentioned euler angles
dJointGetAMotorAngleRate works ??

thanks in advance ...

cheers!
Alireza.