Relative motion (with rotating axes) Summary

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The equations for NON rotating reference axes are:
Va = Vb + Va/b     and
a_a = a_b + a_a/b

But these equations are only true if the relative axes are not rotating. If the relative frame of reference xy is rotating (eg think of a policeman turning while holding a speed camera), then the generalized equations become:

Va = Vb + Vp/b + Vrel
a_a = a_b + a_p/b + w x Vrel + a_rel

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