In many situations, there is a need to examine the motion of two or more points relative to each other.
Consider two points, A and B, both in motion relative to the origin O. This section will examine the motion of B relative to A.
If rB/A is the position vector of B relative to A, then it can be stated that
rB = rA + rB/A
This is simply adding two position vectors to get a new total vector. This is illustrated in the diagram at the left.
To find the relative velocities of two points, take the time derivative of the position, giving
d(rB)/dt = d(rA + rB/A)/dt
vB = vA + vB/A
Relative acceleration is found by taking the time derivative of the
d(vB)/dt = d(vA
aB = aA + aB/A
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