How to calculate geographical coordinates of sampling points following (by bearing and distance) a georeferenced one?

Der fellow R-users,

I have several sampling sites and in each site the "starting" plot
(i.e. the first one that have been sampled) is georeferenced with a
GPS but the following ones are just described by their distance and
bearing in relation to the previous one.

Is there a quick way to calculate (by using some of the spatial
R-packages) the geographic coordinates of the sapling plots at each
location that have not been explicitly georeferenced?

Cheers,
Ivailo

UBUNTU: a person is a person through other persons.