1.4. Relative Kinematics#
Relative kinematics is discussed here using two Cartesian reference frames.
1.4.1. Points#
Position.
Given two reference frames
i.e. the position vector
Velocity. Time derivative of relative position relation (1.7) w.r.t. to reference frame
so that
Acceleration. Time derivative of relative velocity relation (1.8) w.r.t. reference frame
so that
where:
the “tangential component” is orthogonal to the instantaneous angular acceleration and radius,
the “centripetal component” is orthogonal w.r.t. the instantaneous angular velocity
todo tangent to what, centripetal w.r.t. what? state it clearly, otherwise delete this