General Planar Motion

 

Relative velocity and acceleration

 

The velocity and acceleration of a point A on a body undergoing general planar motion is equal to the translation of a reference point B plus the rotation of point A around the reference point B.

 

v_A = v_B + v_A/B = v_B + ω x r_A/B              a_A = a_B + (a_A/B)_t + (a_A/B)_n = a_B + α x r_A/B - ω²r_A/B