Edit and compile if you like:
\documentclass[border=3pt]{standalone} %Drawing \usepackage{tikz} \usepackage{tikz-3dplot} %Notation \usepackage{physics} \usepackage{bm} %Tikz Library \usetikzlibrary{calc, 3d} %Newcommand %%Right Angle \def\rightangle[size=#1](#2,#3,#4){\draw[thick] ($(#3)!#1!(#2)$) -- ($($(#3)!#1!(#2)$)!#1!90:(#2)$) -- ($(#3)!#1!(#4)$)} \begin{document} %Macros \pgfmathsetmacro{\rvec}{2.5} \pgfmathsetmacro{\phivec}{80} %Axis Angles \tdplotsetmaincoords{70}{130} %Layers \pgfdeclarelayer{background} \pgfdeclarelayer{foreground} \pgfsetlayers{background, main, foreground} \begin{tikzpicture}[scale=0.7, tdplot_main_coords] \coordinate (O) at (0,0,0); % %Axis % \draw[thick, ->] (O) -- (10,0,0) node[pos=1.1] {$x$}; % \draw[thick, ->] (O) -- (0,10,0) node[pos=1.1] {$y$}; % \draw[thick, ->] (O) -- (0,0,10) node[pos=1.1] {$z$}; %Coordinates \coordinate (A) at (8,2,0); \coordinate (A') at (8,2,12); \coordinate (C) at ($(A)!0.7!(A')$); \tdplotsetcoord{d}{\rvec}{90}{\phivec} \coordinate (D) at ($(d)+(C)$); \tdplotsetcoord{d'}{3}{90}{90+\phivec} \coordinate (D') at ($(D)+(d')$); % \coordinate (a) at (0,8,0); \coordinate (a') at (0,8,12); \coordinate (c) at ($(a)!0.7!(a')$); \tdplotsetcoord{dd}{\rvec}{90}{0} \coordinate (d) at ($(dd)+(c)$); \tdplotsetcoord{ddn}{1}{90}{90} \coordinate (dn) at ($(ddn)+(d)$); \tdplotsetcoord{dd'}{\rvec}{90}{90} \coordinate (d') at ($(dd')+(c)$); \tdplotsetcoord{ddn'}{1}{90}{180} \coordinate (dn') at ($(ddn')+(d')$); % %%Nodes % \node at (A) {A}; % \node at (A') {A'}; % \node at (C) {C}; % \node at (D) {D}; % \node at (D') {D'}; % \node at (a) {a}; % \node at (a') {a'}; % \node at (c) {c}; % \node at (d) {d}; % \node at (dn) {dn}; % \node at (d') {d'}; % \node at (dn') {dn'}; %Lines \begin{pgfonlayer}{main} \draw[thick] (A) -- (A'); % \draw[thick] (a) -- (a'); %% \draw[blue, dashed] (A) -- ($(A)!0.15!(a')$); \draw[blue] ($(A)!0.15!(a')$) -- (a'); \draw[blue, dashed] (A) -- ($(A)!0.15!(a)$); \draw[blue] ($(A)!0.15!(a)$) -- (a); \end{pgfonlayer} %Vectors \begin{pgfonlayer}{foreground} \draw[very thick, -latex] (C) -- +(0,0,3) node[pos=0.5, left] {$\vb*{\omega}$}; \draw[-latex] (A) -- (D) node[midway, right] {$\vb{a}$}; \draw (C) -- (D) node [midway, above] {$\rho$}; \draw[-latex] (D) -- (D') node[pos=1.1, above] {$\vb*{\omega}\cross\vb{a}$}; % \draw[very thick, -latex] (c) -- +(0,0,3) node[pos=0.5, left] {$z\,\vu{z}$}; \draw (c) -- (d) node[pos=0.4, above left] {$x\,\vu{x}$}; \draw[-latex] (d) -- (dn) node [pos=0.3, below] {$\dd\vu{x}$}; \draw[-latex] (c) -- (d') node[pos=0.4, above right] {$y\,\vu{y}$}; \draw[-latex] (d') -- (dn') node [pos=0.6, below] {$\dd\vu{y}$}; \end{pgfonlayer} %Circles \node[circle, fill=black, inner sep=0.8pt] at (C) {}; \node[circle, fill=black, inner sep=0.8pt] at (c) {}; % \tdplotdrawarc[very thick, red]{(C)}{\rvec}{0}{360}{}{} % \tdplotdrawarc[very thick, red]{(c)}{\rvec}{0}{360}{}{} % \tdplotsetthetaplanecoords{\phivec} \tdplotdrawarc[-stealth, tdplot_rotated_coords]{(A)}{2}{0}{16.7}{}{} \node at ($(C)!0.16!(D)-(0,0,6)$) {$\theta$}; %Nodes \node[align=center] at (11,0,11) {Inertial Frame\\of Reference}; \node[align=center] at (0,3.5,11) {Rotating Frame\\of Reference}; \end{tikzpicture} \end{document}
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See more on the author page of Alexandros Tsagkaropolulos.