GMANE is acting weirdly -- it won't display the original text of your question.
At any rate, the answer is that the diagram can indeed be reproduced in LyX
(see below). I put the various chunks of the formula in ERT, as new LaTeX
commands, but that's not necessary. You can do it in the equation editor, with
a couple of tricks: use \{ to create an inset with braces around it for
mathematical arguments; and inside that inset, type \ensuremath <space> rather
than typing $...$. The reason I used LaTeX macros to capture bits and pieces is
that LyX (at least as of 1.6.x) does not have horizontal scrolling for
annoyingly wide equations or tables, so editing this thing in the equation
editor requires zooming way, way out and using a very powerful magnifying glass.
Paul
=== file begins ===
#LyX 1.6.7 created this file. For more info see http://www.lyx.org/
\lyxformat 345
\begin_document
\begin_header
\textclass beamer
\begin_preamble
\usetheme{CambridgeUS}
\usepackage{times}
\usepackage{tikz}
\usetikzlibrary{arrows,shapes}
\end_preamble
\use_default_options true
\language english
\inputencoding auto
\font_roman lmodern
\font_sans lmss
\font_typewriter lmtt
\font_default_family default
\font_sc false
\font_osf false
\font_sf_scale 100
\font_tt_scale 100
\graphics default
\paperfontsize default
\spacing single
\use_hyperref false
\papersize letterpaper
\use_geometry true
\use_amsmath 1
\use_esint 1
\cite_engine basic
\use_bibtopic false
\paperorientation portrait
\leftmargin 1in
\topmargin 1in
\rightmargin 1in
\bottommargin 1in
\secnumdepth 3
\tocdepth 3
\paragraph_separation skip
\defskip medskip
\quotes_language english
\papercolumns 1
\papersides 1
\paperpagestyle default
\tracking_changes false
\output_changes false
\author ""
\author ""
\end_header
\begin_body
\begin_layout Standard
\begin_inset ERT
status open
\begin_layout Plain Layout
\backslash
tikzstyle{every picture}+=[remember picture]
\end_layout
\begin_layout Plain Layout
\backslash
everymath{
\backslash
displaystyle}
\end_layout
\end_inset
\end_layout
\begin_layout BeginFrame
\begin_inset ERT
status open
\begin_layout Plain Layout
[<+-| alert@+>]
\end_layout
\end_inset
Rigid body dynamics
\end_layout
\begin_layout Standard
\begin_inset ERT
status open
\begin_layout Plain Layout
\backslash
tikzstyle{na} = [baseline=-.5ex]
\end_layout
\end_inset
\end_layout
\begin_layout Standard
\begin_inset ERT
status open
\begin_layout Plain Layout
\backslash
newcommand{
\backslash
myta}{
\end_layout
\begin_layout Plain Layout
\backslash
tikz[baseline]{
\end_layout
\begin_layout Plain Layout
\backslash
node[fill=blue!20,anchor=base] (t1)
\end_layout
\begin_layout Plain Layout
{$2
\backslash
vec{
\backslash
omega}_{ib}
\backslash
times
\backslash
frac{{}^bd}{dt}
\backslash
vec{r}$};
\end_layout
\begin_layout Plain Layout
}
\end_layout
\begin_layout Plain Layout
}
\end_layout
\begin_layout Plain Layout
\backslash
newcommand{
\backslash
mytb}{
\end_layout
\begin_layout Plain Layout
\backslash
tikz[baseline]{
\end_layout
\begin_layout Plain Layout
\backslash
node[fill=red!20, ellipse,anchor=base] (t2)
\end_layout
\begin_layout Plain Layout
{$
\backslash
vec{
\backslash
alpha}_{ib}
\backslash
times
\backslash
vec{r}$};
\end_layout
\begin_layout Plain Layout
}
\end_layout
\begin_layout Plain Layout
}
\end_layout
\begin_layout Plain Layout
\backslash
newcommand{
\backslash
mytc}{
\end_layout
\begin_layout Plain Layout
\backslash
tikz[baseline]{
\end_layout
\begin_layout Plain Layout
\backslash
node[fill=green!20,anchor=base] (t3)
\end_layout
\begin_layout Plain Layout
{$
\backslash
vec{
\backslash
omega}_{ib}
\backslash
times(
\backslash
vec{
\backslash
omega}_{ib}
\backslash
times
\backslash
vec{r})$};
\end_layout
\begin_layout Plain Layout
}
\end_layout
\begin_layout Plain Layout
}
\end_layout
\end_inset
\end_layout
\begin_layout Itemize
Coriolis acceleration
\begin_inset ERT
status open
\begin_layout Plain Layout
\backslash
tikz[na]
\backslash
node[coordinate] (n1) {};
\end_layout
\end_inset
\end_layout
\begin_layout Standard
\begin_inset Formula \[
\vec{a}_{p}=\vec{a}+\frac{^{b}d^{2}}{dt^{2}}\vec{r}+\myta+\mytb+\mytc\]
\end_inset
\end_layout
\begin_layout Itemize
Transversal acceleration
\begin_inset ERT
status open
\begin_layout Plain Layout
\backslash
tikz[na]
\backslash
node [coordinate] (n2) {};
\end_layout
\end_inset
\end_layout
\begin_layout Itemize
Centripetal acceleration
\begin_inset ERT
status open
\begin_layout Plain Layout
\backslash
tikz[na]
\backslash
node [coordinate] (n3) {};
\end_layout
\end_inset
\end_layout
\begin_layout Standard
\begin_inset ERT
status open
\begin_layout Plain Layout
\backslash
begin{tikzpicture}[overlay]
\end_layout
\begin_layout Plain Layout
\backslash
path[->]<1-> (n1) edge [bend left] (t1);
\end_layout
\begin_layout Plain Layout
\backslash
path[->]<2-> (n2) edge [bend right] (t2);
\end_layout
\begin_layout Plain Layout
\backslash
path[->]<3-> (n3) edge [out=0, in=-90] (t3);
\end_layout
\begin_layout Plain Layout
\backslash
end{tikzpicture}
\end_layout
\end_inset
\end_layout
\begin_layout EndFrame
\end_layout
\end_body
\end_document
