Definition
Consider a moving rigid body and the velocity of a particle/point P along the body being a function of the position and velocity of a center particle/point C and the angular velocity .
The linear velocity vector at P is expressed in terms of the velocity vector at C as:
where is the angular velocity vector.
The material acceleration at P is:
where is the angular acceleration vector.
The spatial acceleration at P is expressed in terms of the spatial acceleration at C as:
which is similar to the velocity transformation above.
In general the spatial acceleration of a particle point P that is moving with linear velocity is derived from the material acceleration at P as:
Read more about this topic: Spatial Acceleration
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