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mass, the tangential acceleration due to the body's angular acceleration, and the cen‐
tripetal acceleration due to the change in direction of the tangential velocity. In equation
form, this looks like:
a R = a cg + a n + a t
Figure 2-13 illustrates what's happening here.
Figure 2-13. Relative acceleration
You can rewrite the equation for the resultant acceleration in the following form:
a R = a cg + ( ω × ( ω × r )) + ( α × r )
As you can see, using these principles of relative velocity and acceleration allows you to
calculate the resultant kinematic properties of any point on a rigid body at any given
time by determining what the body's center of mass is doing along with how the body
is rotating.
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