diff --git a/src/fsfw/globalfunctions/math/QuaternionOperations.cpp b/src/fsfw/globalfunctions/math/QuaternionOperations.cpp
index ce44dc08..293eb168 100644
--- a/src/fsfw/globalfunctions/math/QuaternionOperations.cpp
+++ b/src/fsfw/globalfunctions/math/QuaternionOperations.cpp
@@ -153,3 +153,26 @@ double QuaternionOperations::getAngle(const double* quaternion, bool abs) {
     }
   }
 }
+
+void QuaternionOperations::rotationFromQuaternions(const double qNew[4], const double qOld[4],
+                                                         const double timeDelta,
+                                                         double rotRate[3]) {
+  double qOldInv[4] = {0, 0, 0, 0};
+  double qDelta[4] = {0, 0, 0, 0};
+
+  inverse(qOld, qOldInv);
+  multiply(qNew, qOldInv, qDelta);
+  if (VectorOperations<double>::norm(qDelta, 4) != 0.0) {
+    normalize(qDelta);
+  }
+  if (VectorOperations<double>::norm(qDelta, 3) == 0.0) {
+    rotRate[0] = 0.0;
+    rotRate[1] = 0.0;
+    rotRate[2] = 0.0;
+    return;
+  }
+  double rotVec[3] = {0, 0, 0};
+  double angle = getAngle(qDelta);
+  VectorOperations<double>::normalize(qDelta, rotVec, 3);
+  VectorOperations<double>::mulScalar(rotVec, angle / timeDelta, rotRate, 3);
+}
diff --git a/src/fsfw/globalfunctions/math/QuaternionOperations.h b/src/fsfw/globalfunctions/math/QuaternionOperations.h
index 473cee2b..4e302017 100644
--- a/src/fsfw/globalfunctions/math/QuaternionOperations.h
+++ b/src/fsfw/globalfunctions/math/QuaternionOperations.h
@@ -25,6 +25,9 @@ class QuaternionOperations {
 
   static void slerp(const double q1[4], const double q2[4], const double weight, double q[4]);
 
+  static void rotationFromQuaternions(const double qNew[4], const double qOld[4],
+                                            const double timeDelta, double rotRate[3]);
+
   /**
    * returns angle in ]-Pi;Pi] or [0;Pi] if abs == true
    */