1

Sorry for boring you. I am wondering if someone knows how to write following equation in latex: enter image description here

The main body of the equation is written in latex. However, the added blue arrows and explication smaller equations are added with powerpoint. Thank you very much for taking a look.

2

UPDATE: An arguably nicer alternative.

\documentclass{article}
\usepackage{amsmath}
\usepackage{tikz}
\newcommand{\tikznode}[3][inner sep=0pt]{\tikz[remember
picture,baseline=(#2.base)]{\node(#2)[#1]{$#3$};}}
\begin{document}
\begin{align*}
&\quad\tikznode[inner sep=1pt]{above}{\scriptsize \delta\boldsymbol{r}_1\to\delta\boldsymbol{q}}\\[0.5cm]
%
{\large \delta\boldsymbol{\omega}_n=
\tikznode{A}{\boldsymbol{A}}}&{\large\begin{bmatrix}
\tikznode{T}{\boldsymbol{T}}_{\boldsymbol{r}_{1,n}}\\
\tikznode{B}{\overline{\boldsymbol{B}}}\begin{bmatrix}
\boldsymbol{T}_{\boldsymbol{r}_{1,n}}\\
\tikznode{C}{\boldsymbol{C}}
\end{bmatrix}
\end{bmatrix}\delta\boldsymbol{Q}=\boldsymbol{B}_n\boldsymbol{q}}\\[0.5cm]
%
\tikznode[inner sep=1pt]{below1}{\scriptsize\delta\boldsymbol{\omega}\to\begin{matrix}\delta\boldsymbol{r}_1\\
\delta\boldsymbol{r}_2\\ \delta\boldsymbol{r}_3
\end{matrix}}\quad&
\tikznode[inner sep=1pt]{below2}{\scriptsize\begin{matrix}\delta\boldsymbol{r}_1\\
\delta\boldsymbol{r}_2
\end{matrix}\to
\begin{matrix}
\delta\boldsymbol{r}_1\\ \delta\overline{\boldsymbol{r}}_1\\
\delta\boldsymbol{r}_2\\ \delta\boldsymbol{r}_3
\end{matrix}}
\quad
\tikznode[inner sep=1pt]{below3}{\scriptsize\begin{matrix}\delta\boldsymbol{r}_1\\
\delta\boldsymbol{r}_2\\ \delta\boldsymbol{r}_3
\end{matrix}\to \delta\boldsymbol{\omega}}
\end{align*}
\begin{tikzpicture}[overlay,remember picture,blue!30,thick]
\draw (above.south west) -- (above.south east);
\draw[-latex] (above.south) --(T);
%
\draw (below1.north west) -- (below1.north east);
\draw[-latex] (below1.north) --(A);
%
\draw (below2.north west) -- (below2.north east);
\draw[-latex] (below2.north) --(B);
%
\draw (below3.north west) -- (below3.north east);
\draw[-latex] (below3.north) --(C);
\end{tikzpicture}
\end{document}

enter image description here

ORIGINAL ANSWER: Here I show how to do the annotations. You'll have to adjust the sizes of the various symbols.

\documentclass{article}
\usepackage{amsmath}
\usepackage{tikz}
\newcommand{\tikznode}[2]{\tikz[remember
picture,baseline=(#1.base)]{\node(#1)[inner sep=0pt]{$#2$};}}
\begin{document}
\begin{align*}
&\quad\tikznode{above}{\scriptstyle \delta\boldsymbol{r}_1\to\delta\boldsymbol{q}}\\[0.5cm]
%
{\large \delta\boldsymbol{\omega}_n=
\tikznode{A}{\boldsymbol{A}}}&{\large\begin{bmatrix}
\tikznode{T}{\boldsymbol{T}}_{\boldsymbol{r}_{1,n}}\\
\tikznode{B}{\overline{\boldsymbol{B}}}\begin{bmatrix}
\boldsymbol{T}_{\boldsymbol{r}_{1,n}}\\
\tikznode{C}{\boldsymbol{C}}
\end{bmatrix}
\end{bmatrix}\delta\boldsymbol{Q}=\boldsymbol{B}_n\boldsymbol{q}}\\[0.5cm]
%
\tikznode{below1}{\scriptstyle\delta\boldsymbol{\omega}\to\begin{matrix}\delta\boldsymbol{r}_1\\
\delta\boldsymbol{r}_2\\ \delta\boldsymbol{r}_3
\end{matrix}}&
\tikznode{below2}{\scriptstyle\begin{matrix}\delta\boldsymbol{r}_1\\
\delta\boldsymbol{r}_2
\end{matrix}\to
\begin{matrix}
\delta\boldsymbol{r}_1\\ \delta\overline{\boldsymbol{r}}_1\\
\delta\boldsymbol{r}_2\\ \delta\boldsymbol{r}_3
\end{matrix}}
~
\tikznode{below3}{\scriptstyle\begin{matrix}\delta\boldsymbol{r}_1\\
\delta\boldsymbol{r}_2\\ \delta\boldsymbol{r}_3
\end{matrix}\to \delta\boldsymbol{\omega}}
\end{align*}
\begin{tikzpicture}[overlay,remember picture,blue!30]
\draw (above.south west) -- ++(0,0.1);
\draw (above.south east) -- ++(0,0.1);
\draw (above.south west) -- (above.south east);
\draw[-latex] (T|- above.south) --(T);
%
\draw (below1.north west) -- ++(0,-0.1);
\draw (below1.north east) -- ++(0,-0.1);
\draw (below1.north west) -- (below1.north east);
\draw[-latex] (A|- below1.north) --(A);
%
\draw (below2.north west) -- ++(0,-0.1);
\draw (below2.north east) -- ++(0,-0.1);
\draw (below2.north west) -- (below2.north east);
\draw[-latex] (B|- below2.north) --(B);
%
\draw (below3.north west) -- ++(0,-0.1);
\draw (below3.north east) -- ++(0,-0.1);
\draw (below3.north west) -- (below3.north east);
\draw[-latex] (C|- below3.north) --(C);
\end{tikzpicture}
\end{document}

enter image description here

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