Currently, many missile fire control systems use a three degree of freedom (3-DOF) trajectory model. The three degrees of freedom represent the linear motion of the missile in three dimensions. A 6-DOF model adds roll, pitch, and yaw, or angular motion in three dimensions to the first three degrees of freedom. Because more of the missile’s attributes are modeled, a 6-DOF model is more accurate than a 3-DOF model. For the same reason, a 3-DOF model is easier to develop and executes faster. Also, because a 3-DOF model ignores the seemingly random angular motion, the step sizes used to integrate 3-DOF models are larger. The goal of this project is to develop a 6-DOF re-entry model with the accuracy of a 6-DOF model with conventional equations of motion and computational speed at least comparable to the 3-DOF model. This can be achieved by transforming the equations that compute the effects of angular motion so that they are better conditioned. Essentially, this is done by fitting a sine wave to the oscillating state variables representing the orientation and angular rates, namely the quaternions and the angular velocity. This thesis shows the results of transforming the oscillating variables of the state vector. / Master of Science