The Inertial Measurement Unit currently plays a significant role in our society, since it integrates a large part of the technologies that perform fundamental processes in modern society, and its use in unmanned aircraft, the so-called Unmanned Aerial Vehicles (UAV), has grown during the course of of years, in such a way that this market has reached even ordinary consumers, through Drones, also this is used in motobikes and another devices. With the constant growth of this market, and the difficulties of analyzing and controlling these mechanisms in order to improve the control systems associated to IMU, the present work proposes to develop an approach of the kinematic analysis of a body that develops trajectories in the three-dimensional space performing rotations and translations in the three coordinated axes using the Euler Angles modeling, and by means of rotational matrices, and Quaternions. However, in this study, the body sizes has no effect, nor are external influences (body dynamics) or moments of inertia analyzed. This work simulates the behavior of kinematic variables linked to motion through MATLAB software (version R2017a) and using a SIMULINK tool based on the Euler angle equations and the example of a puncture body traversing helical trajectories in the X, Y and Z axes. In this Work, a code is also created through the programming language Visual Basic for Application (VBA) of software Microsoft Excel 2003 to create functions and routines that allow the use of the main functions linked to Quaternions.