Revert "rotation matrices from any cartesian coordinates to special frame done"

This reverts commit e9f275150493df97896609cd38a678a9043f1379.
Revert "rotation matrices from any cartesian coordinates to special frame"

This reverts commit 94f8fc4ecd89b4424a38c23d5ef53c58419acd72.
Revert "H deriv in Calc omega"

This reverts commit 14cbde0275b72c9dc7966e0d0e74829ed0f5c9a4.
Commiting at the point where vPhi calculation is added for the precessing case. Functions compile, and need to be tested.