def jac_c_b_v_angles(angles, acc): # uff...
    """

    :param angles: Euler angles, np.ndarray, shape: (3,1)
    :param acc: accelerations, np.ndarray, shape: (3, 1)
    :return: the derivetive of C_b_v function by angles.
                np.ndarray, shape: (3, 3)
    """

    phi, theta, psi = angles.flatten()
    a_x, a_y, a_z = acc.flatten()

    result = np.zeros(shape=(3,3))

    # first row
    result[0, 0] = a_y * (np.cos(psi) * np.sin(theta) * np.cos(phi) + np.sin(psi) * np.sin(phi)) + \
                   a_z * (-np.cos(psi) * np.sin(theta) * np.sin(phi) + np.sin(psi) * np.cos(phi))
    result[0, 1] = a_x * (-np.cos(psi) * np.sin(theta)) + \
                   a_y * (np.cos(psi) * np.cos(theta) * np.sin(phi)) + \
                   a_z * (np.cos(psi) * np.cos(theta) * np.cos(phi))
    result[0, 2] = a_x * (-np.sin(psi) * np.cos(theta)) + \
                   a_y * (-np.sin(psi) * np.sin(theta) * np.sin(phi) - np.cos(psi) * np.cos(phi)) + \
                   a_z * (-np.sin(psi) * np.sin(theta) * np.cos(phi) + np.cos(psi) * np.sin(phi))

    # second row
    result[1, 0] = a_y * (np.sin(psi) * np.sin(theta) * np.cos(phi) - np.cos(psi) * np.sin(phi)) + \
                   a_z * (-np.sin(psi) * np.sin(theta) * np.sin(phi) - np.cos(psi) * np.cos(phi))
    result[1, 1] = a_x * (-np.sin(psi) * np.sin(theta)) + \
                   a_y * (np.sin(psi) * np.cos(theta) * np.sin(phi)) + \
                   a_z * (np.sin(psi) * np.cos(theta) * np.cos(phi))
    result[1, 2] = a_x * (np.cos(psi) * np.cos(theta)) + \
                   a_y * (np.cos(psi) * np.sin(theta) * np.sin(phi) - np.sin(psi) * np.cos(phi)) + \
                   a_z * (np.cos(psi) * np.sin(theta) * np.cos(phi) + np.sin(psi) * np.sin(phi))

    result[2, 0] = a_y * (np.cos(theta) * np.cos(psi)) + \
                   a_z(-np.cos(theta) * np.sin(phi))
    result[2, 1] = a_x * (-np.cos(theta)) + \
                   a_y * (-np.sin(theta) * np.sin(phi)) + \
                   a_z * (-np.sin(theta) * np.cos(phi))
    result[2, 2] = 0

    return result