Are these terms used interchangeably to mean the same things?
I'm aware of the conversion between body rates (often, $[p, q, r])$ and Euler rates (commonly, [$\dot\phi, \dot\theta, \dot\psi])$. This answer suggests that Euler rates are inertial angular rates. As written in this answer, it would appear that 'body-frame angle rate' is the same as 'body-frame angular velocity'. I expected angular velocity (as a 3-vector, $\vec\omega =[\omega_1, \omega_2, \omega_3]$) to be a different quantity -- referring to wiki for 3D angular velocity.
Is angular velocity (expressed in body frame) the same as angle rate-of-change (expressed in the same body frame)?