Use orient_dcm() instead of orient_explicit().

angular.rst

@@ -150,7 +150,7 @@ matrix with time varying elements:
                       [czx, czy, czz]])
 
 and establish the orientation using
-:external:py:meth:`~sympy.physics.vector.frame.ReferenceFrame.orient_explicit`:
+:external:py:meth:`~sympy.physics.vector.frame.ReferenceFrame.orient_dcm`:
 
 .. warning::
 
@@ -160,7 +160,7 @@ and establish the orientation using
 
    A = me.ReferenceFrame('A')
    B = me.ReferenceFrame('B')
-   B.orient_explicit(A, B_C_A.transpose())
+   B.orient_dcm(A, B_C_A)
    B.dcm(A)
 
 This now let's write the :math:`B` unit vectors in terms of the :math:`A` unit
@@ -306,7 +306,7 @@ Applying the definition of angular velocity as before, the angular velocity of
 
    A = me.ReferenceFrame('A')
    B = me.ReferenceFrame('B')
-   B.orient_explicit(A, B_C_A.transpose())
+   B.orient_dcm(A, B_C_A)
 
    mnx = me.dot(B.y.express(A).dt(A), B.z)
    mny = me.dot(B.z.express(A).dt(A), B.x)

orientation.rst

@@ -556,22 +556,18 @@ orientations. For example:
 
 relates :math:`A` and :math:`N`. ``ReferenceFrame`` objects can be oriented
 with respect to one another. The
-:external:py:meth:`~sympy.physics.vector.frame.ReferenceFrame.orient_explicit`
+:external:py:meth:`~sympy.physics.vector.frame.ReferenceFrame.orient_dcm`
 :term:`method` allows you to set the direction cosine matrix between two frames
 explicitly:
 
 .. jupyter-execute::
 
-   N.orient_explicit(A, A_C_N)
-
-.. todo::
-
-   When we change to SymPy 1.13, change ``orient_explicit`` to ``orient_dcm``.
+   N.orient_dcm(A, A_C_N.transpose())
 
 .. warning::
 
    Note very carefully what version of the direction cosine matrix you pass to
-   ``.orient_explicit()``. Check its docstring with ``N.orient_explicit?``.
+   ``.orient_dcm()``. Check its docstring with ``N.orient_dcm?``.
 
 Now you can ask for the direction cosine matrix of :math:`A` with respect to
 :math:`N`, i.e. :math:`{}^A\mathbf{C}^N`, using the
@@ -593,7 +589,7 @@ reversing the order of the arguments:
    Orient reference frame :math:`D` with respect to :math:`F` with a simple
    rotation about :math:`y` through angle :math:`\beta` and set this
    orientation with
-   :external:py:meth:`~sympy.physics.vector.frame.ReferenceFrame.orient_explicit`.
+   :external:py:meth:`~sympy.physics.vector.frame.ReferenceFrame.orient_dcm`.
 
 .. admonition:: Solution
    :class: dropdown
@@ -609,11 +605,11 @@ reversing the order of the arguments:
                          [0, 1, 0],
                          [sm.sin(beta), 0, sm.cos(beta)]])
 
-      F.orient_explicit(D, F_C_D.transpose())
+      F.orient_dcm(D, F_C_D)
 
       F.dcm(D)
 
-:external:py:meth:`~sympy.physics.vector.frame.ReferenceFrame.orient_explicit`
+:external:py:meth:`~sympy.physics.vector.frame.ReferenceFrame.orient_dcm`
 requires you to form the direction cosine matrix yourself, but there are also
 methods that relieve you of that necessity. For example,
 :external:py:meth:`~sympy.physics.vector.frame.ReferenceFrame.orient_axis`
@@ -699,7 +695,7 @@ pairs returns the expected direction cosine matrix entry:
 
    .. jupyter-execute::
 
-      E.orient_explicit(D, C.dcm(D))
+      E.orient_dcm(D, D.dcm(C))
       E.dcm(D)
 
 Euler Angles