L32 : General 3-D Motion

Consider a rigid body which has an angular velocity . At the same time, the body may be translating also.

Let us choose, an axis system xyz on the body.The small " o" is the origin, a point on the body. Choose another axis system OXY which is considered to be fixed, i.e., the velocity and acceleration of point O is always zero.

Assume the xyz axes remain parallel to XYZ.

Then, the velocity of point P with respect to O may be written as