function Vlinear = BodyVelToLinearVel(V,G)
% *** CHAPTER x: DYNAMICS OF OPEN CHAINS ***
% Takes V: Body frame velocity,
%       G: Space frame G
% Returns Glist: Spatial inertia matrices Gi of the links

[R, p] = TransToRp(G);
Vlienar = se3ToVec(V)*[p;1];
Vlienar = Vlienar(1:3);