We will leverage the second frame, the Pulsating Rotating Frame, to host various dynamical models and create hierarchy within that frame. Initially, we will examine the rotation formula between the capital R vector and the rho vector. The capital R vector represents the inertial frame, the dimensional position vector of the spacecraft, while the rho vector represents the pulsating rotating frame, the non-dimensional spacecraft vector. The Rotation Formula includes three components: translation of the origin, dimensionalization of the length, and rotation represented by the Direction Cosine Matrix.