Chapter 16: KINEMATICS

OF RIGID BODIES
Prepared by:
Nevin Bueno
Jensen Nasol
Gio Cristian Nocillado
John Lowell Valeriano
Objectives

 To connect with our classmates

 To Analyze the topic, Chapter 16: Kinematics of Rigid Bodies, more
 To develop skills in problem solving
 To be able to apply the topics learned in chapter 16
 To evaluate the students with their learnings
INTRODUCTION
 A body is considered rigid if the distance between any two
points in the body remains constant. In other words, a rigid
body does not deform. The rigid-body concept is an
idealization since all bodies deform to some extent when
subjected to forces. But if the deformation is sufficiently
small or in other words negligible, the assumption of rigidity is
justified.
 This chapter is concerned only with the kinematics of plane
motion of rigid bodies. A body undergoes plane motion if all
points in the body remain a constant distance from a fixed
reference plane, called the plane of motion of the body. In
other words, all points in the body move in planes that are
parallel to the plane of motion.
16.1Translation
 A motion is said to be a translation if any straight line inside
the body keeps the same direction during the motion. It can
also be observed that in translation all the particles forming
the body move along parallel paths. If these paths are straight
lines, the motion is said to be rectilinear translation (fig.
16.1); if the paths are curved lines, the motion is curvilinear
translation (fig 16.2)
 Fig (16.1) Fig. (16.2)
 Consider a rigid body in translation, (either rectilinear or curvilinear) and let
A and B be any wo points (fig 16.3a). Denoting respectively, rA and rB the
position vectors of A and B with respect to a fixed frame of reference and by
rB/A the vector joining A and B, we write
 rB = rA + rB/A (16.1)

 Differentiating with respect to t. We note that from the very definition of a

translation, the vector rB/A must maintain a constant direction; its magnitude
must also be constant, since A and B belong to the same rigid body. Thus the
derivative of rB/A zero and we have

 vB= vA (16.2)
 Differentiating once more we get,
 aB=aA (16.3)

 Thus, when a rigid body is in translation, all the points of the body
have the same velocity and the same acceleration at any given
instant (Fig 16.3b and c).
16. 2 Rotation About a Fixed Axis
 Consider a rigid body which rotates about a fixed axis AA’. Let P be a
point of the body and r its position vector with respect to a fixed frame
of reference. Let us assume that the frame of reference is centered at
point O on AA’ and that the z axis coincides with AA’ (Fig 16.4). Let B be
the projection of P on AA’; since P must remain at a constant distance
from B, it will describe a circle of center B and of radius r sin ɸ , where ɸ
denotes the angle formed by r and AA’.

Fig. 16.4
 The velocity v= dr/dt of a particle P is a vector tangent to the path of P
and of the magnitude v=ds/dt. Observing that the length ∆s of the arc
described by P when the body rotates through ∆θ is
∆s = (BP) ∆θ= r(sinɸ) ∆θ
 and dividing both members by ∆t, we obtain at the limit, as ∆t
approaches zero,

𝑑𝑠
𝑣= = 𝑟𝜃𝑠𝑖𝑛∅
𝑑𝑡
 We conclude that the velocity v of P is a vector perpendicular to the plane
containing AA’ and r, and magnitude v defined by (16.4). But this is precisely
the result we would obtain if we drew along AA’ a vector ꙍ= θk and formed
the vector product ꙍ x r (Fig 16.5) we thus write Fig. 16.5

𝑑𝑟
𝑣= = 𝜔×𝑟 (16.5)
𝑑𝑡

(16.6)
𝜔 = 𝜔𝒌 = 𝜃𝒌

This vector, which is directed along the axis of

rotation; its sense may be obtained by the
right hand rule from the sense of the rotation
of the body.
 The acceleration a of the particle P will now be determined. Differentiating (16.5) and
recalling the rule for differentiation of vector product,

𝑑𝑣 𝑑
𝒂= = (𝝎 × 𝒓)
𝑑𝑡 𝑑𝑡
𝑑𝜔 𝑑𝒓
= ×𝒓+𝝎×
𝑑𝑡 𝑑𝑡
𝑑𝜔 (16.7)
= ×𝒓+𝝎×𝒗
𝑑𝑡

 The vector dꙍ/dt is denoted by α and is called the angular acceleration of the body.
Substituting also v from (16.5) we have,

𝒂 = 𝜶 × 𝒓 + 𝝎 × (𝝎 × 𝒓) (16.8)
 Differentiating (16.6) and recalling that k is constant in magnitude and
direction, we have

𝜶 = 𝛼𝒌 = 𝜔𝒌 = Ӫ𝒌 (16.9)

 Acceleration of P is combined of two vectors,

a= α x r + ꙍ x ꙍ x r
 α x r = tangential acceleration on component
 ꙍ x ꙍ x r = radial acceleration on component
Rotation of a Representative Slab
 The rotation of a rigid body about a fixed axis can be defined by the
motion of a representative slab in a reference plane perpendicular to
the axis of rotation. Let xy plane be the reference plane and assume
that it coincides with the plane figure, with the z axis pointing out of
the paper (Fig 16.6). Recalling from (16.6) that ꙍ=ꙍk we note that
(+)ꙍ corresponds to a CCW rotation and a (-)ꙍ denotes CW rotation.

Fig 16.6
 Velocity of any given P of the slab:
v= ꙍk x r (16.10)
 Since the vectors k and r are mutually perpendicular, the magnitude of
the velocity v is
v= rꙍ (16.10’)

 Substituting ꙍ=ꙍk and α=αk into (16.8), acceleration of Point P is

expressed as
a= αk x r - ꙍ2r (16.11)
 Resolving a into tangential and normal components (fig. 16.6) we write,

𝒂𝒕 = 𝛼𝒌 × 𝒓 𝒂𝒕 = 𝒓𝜶
(16.11’)
𝒂𝒏 = −𝝎𝟐 𝒓 𝒂𝒏 = 𝒓𝝎𝟐

Fig 16.7
16.3 EQUATIONS DEFINING THE ROTATION OF
A RIGID BODY ABOUT A FIXED AXIS
 Motion of a rigid body rotating around a fixed axis is often specified by the type
of angular acceleration.

𝒅𝜽 (16.12) Fig. 16.8

𝝎=
𝒅𝒕

𝒅𝝎 𝒅𝟐 𝜽
𝜶= = 𝟐 (16.13)
𝒅𝒕 𝒅𝒕
or, solving (16.12) for dt and substituting into
(15.13)

𝒅𝝎 (16.14)
𝜶=𝝎
𝒅𝜽
 Two Particular Cases of Rotation Frequently Encountered:
Uniform Rotation – is characterized by the fact that the angular acceleration is
zero (α=0). The angular velocity is
θ = θ0 + ꙍt (16.15)

Uniformly Accelerated Rotation- angular acceleration is constant

(16.16)
Example Problem 1
 A wheel has an initial clockwise angular velocity of 10 rad/s and a constant angular
acceleration of 3rad/sec2. Determine the number of revolutions it must undergo to
acquire a clockwise angular velocity of 15 rad/s. What time is required?
 Required: Number of revolutions and time t

 ꙍ2 = ꙍ02 (θ-θ0)
(15)2= (10)2+2(3)(θ-0)
 θ= 20.83 rad
1
= 20.83(2𝛱)
 =3.32 rev ans

ꙍ=ꙍ0 + α0t
15= 10+3t
 t= 1.67 s ans
16.7 Absolute and Relative Acceleration

 Absolute acceleration of a particle of the slab

 Relative acceleration aB/A associated with rotation avout A

includes tangential and normal components
16.8 Rate of change of a vector with respect
to a rotating frame

 The coordinate system used was allowed to translate but not rotate.
However, there is a class of problems associated with sliding connections in
which the point of interest does not lie in a body, but its path relative to a
body is known. For problems of this type, it is convenient to describe the
motion of the point in a reference frame that is embedded in the body. Such a
coordinate system may rotate as well as translate.
 General Plane Motion

 Any plane motion which is neither a rotation nor a translation is referred to as a general
plane motion. However, a general plane motion may always be considered as the sum
of translation and a rotation.
 When a rigid body is subjected to external forces and couple-moments, it can undergo
both translational motion as well as rotational motion. This combination is called
general plane motion.
For example, a wheel rolling on a straight track. Over a certain interval of time, two given points A
and B will have moved, respectively, from 𝐴1 𝑡𝑜 𝐴2 and from 𝐵1 𝑡𝑜 𝐵2 . The same result could be
obtained through a translation which would bring A and B into 𝐴2 𝑎𝑛𝑑 𝐵1 ′ (the line AB remaining
vertical), followed by a rotation about A bringing B into 𝐵2 . Although the original rolling motion
differs from the combination of translation and rotation when these motions are taken in succession,
the original motion may be completely duplicated by a combination of simultaneous translation and
rotation.
Another example of plane motion is shown in the figure which represents a rod
whose extremities slide, respectively, along a horizontal and a vertical track. This
motion may be replaced by a translation in a horizontal direction and a rotation
about A or by a translation in a vertical direction and a rotation about B.
In general, we shall consider a small displacement which brings two particles A and B of a
representative slab, respectively, from 𝐴1 𝑡𝑜 𝐴2 and from 𝐵1 𝑡𝑜 𝐵2 . This displacement
maybe divided into two parts, one to which the particles moves into 𝐴2 𝑎𝑛𝑑 𝐵1 ′ while the
line AB maintains the same direction, the other in which B moves into 𝐵2 while A remains
fixed. Clearly, the first part of the motion is a translation and the second part a rotation
about A.
 Absolute and Relative Velocity in Plane Motion

Any plane motion of a slab may be replaced by a translation defined by the motion
of an arbitrary reference point A, and by a rotation about A. The absolute velocity
𝑣𝐵 of a particle B of the slab is obtained from the relative-velocity formula;
𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴
where the right-hand member represents a vector sum. The velocity 𝑣𝐴
corresponds to the translation of the slab with A, while the relative velocity 𝑣𝐵/𝐴 is
associated with the rotation of the slab about A and is measured with respect to
axes of fixed orientation.
𝑣𝐵/𝐴 = ω𝐤 × 𝑟𝐵/𝐴 𝑣𝐵/𝐴 = 𝑟𝜔
where r is the distance from A to B. Substituting for 𝑣𝐵/𝐴 , we may also write
𝑣𝐵 = 𝑣𝐴 + ω𝐤 × 𝑟𝐵/𝐴
As an example, we shall consider the rod AB. Assuming that the velocity 𝑣𝐴 of end A is known, we propose to find the
velocity 𝑣𝐵 of end B and the angular velocity 𝜔 of the rod, in terms of the velocity 𝑣𝐴 , the length l, and the angle 𝜃.
Choosing A as the reference point, we express that the given motion is equivalent to a translation with A and a rotation
about A. The absolute velocity of B must therefore be equal to the vector sum
𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴
We note that, while the direction of 𝑣𝐵/𝐴 is known, its magnitude lω is unknown. However, this is compensated by the
fact that the direction of 𝑣𝐵 is known. Solving for the magnitudes 𝑣𝐵 and ω, we write
𝑣𝐵/𝐴 𝑣 𝐴
𝑣𝐵 = 𝑣𝐴 tan 𝜃 𝜔= = 𝑙cosθ
𝑙
The same result can be obtained by using B as a point of reference. Resolving the given motion into a
translation with B and a simultaneous rotation about B, we write the equation
𝑣𝐴 = 𝑣𝐵 + 𝑣𝐴/𝐵
which is represented graphically in the figure. We note that 𝑣𝐴/𝐵 and 𝑣𝐵/𝐴 have the same magnitude lv but
opposite sense. The sense of the relative velocity depends, therefore, upon the point of reference which has
been selected and should be carefully ascertained from the appropriate diagram.
Finally, we observe that the angular velocity V of the rod in its rotation
about B is the same as in its rotation about A. It is measured in both
cases by the rate of change of the angle u. This result is quite general;
we should therefore bear in mind that the angular velocity V of a rigid
body in plane motion is independent of the reference point.
Sample Problem
The double gear shown rolls on the stationary lower rack; the velocity of its center A is 1.2 m/s directed
to the right. Determine (a) the angular velocity of the gear, (b) the velocities of the upper rack R and of
point D of the gear.
Solution:

a. Angular Velocity of the Gear.

Since the gear rolls on the lower rack, its center A moves through a distance equal to the outer
circumference 2𝜋𝑟1 for each full revolution of the gear. Noting that 1 rev = 2𝜋 rad, and that when A
moves to the right (𝑥𝐴 > 0) the gear rotates clockwise (𝜔 ,< 0), we write

𝑥𝐴 𝜔
=−
2𝜋𝑟1 2𝜋
𝑥𝐴 = −𝑟𝜔

Differentiating with respect to the time t and substituting the known values 𝑣𝐴 = 1.2 m/s and 𝑟1 =
150 𝑚𝑚 = 0.150 𝑚, we obtain𝑣𝐴 = −𝑟1 𝜔
𝑚
1.2 = −(0.150 𝑚)𝜔
𝑠
𝜔 = −8𝑟𝑎𝑑/𝑠
𝜔 = 𝜔𝒌 = (−8rad/s)𝒌
Where k is a unit vector pointing out of the paper.
b. Velocities
The rolling motion is resolved into two component motions: a translation with the center A and a rotation
about the center A. In the translation, all points of the gear move with the same velocity 𝑣𝐴 . In the rotation,
each point P of the gear moves about A with a relative velocity 𝑣𝑃/𝐴 = 𝜔𝒌 × 𝑟𝑃/𝐴 , where 𝑟𝑃/𝐴 is the position
vector of P relative to A.

Velocity of Upper Rack

The velocity of the upper rack is equal to the velocity of point B; we write
𝑣𝑅 = 𝑣𝐵 = 𝑣𝐴 + 𝑣𝐵/𝐴 = 𝑣𝐴 + 𝜔𝒌 × 𝑟𝐵/𝐴
𝑣𝑅 = (1.2 𝑚/𝑠)𝒊 – (8rad/s)k× (0.100𝑚)𝒋
= (1.2 𝑚/𝑠)𝒊 +(0.8m/s)𝒊
𝑣𝑅 = (2 m/s)𝒊

Velocity of Point D
𝑣𝐷 = 𝑣𝐴 + 𝑣𝐷/𝐴 = 𝑣𝐴 + 𝜔𝒌 × 𝑟𝐷/𝐴
= (1.2 𝑚/𝑠)𝒊 – (8rad/s)k× (−0.150𝑚)𝒋
= (1.2 𝑚/𝑠)𝒊 +(0.8m/s)𝒊 =(2 m/s)𝒊
𝑣𝐷 = 1.697 𝑚/𝑠
 Instantaneous Center of Rotation In Plane
Motion
Consider the general plane motion of a slab, We know that at any given instant the velocities of the
various particles of the slab are the same as if the slab were rotating about a certain axis
perpendicular to the plane of the slab, called the instantaneous axis of rotation. This axis intersects
the plane of the slab at a point C, called the instantaneous center of rotation of the slab.
The position of the instantaneous center may be defined in two other ways. If the direction of the velocities
of two particles A and B of the slab are known, and if they are different, the instantaneous center C is
obtained by drawing the perpendicular to𝑣𝐴 through A and the perpendicular to 𝑣𝐵 through B and
determining the point in which these two lines intersect. If the velocities of 𝑣𝐴 and 𝑣𝐵 of two particles A and
B are perpendicular to the line AB, and their magnitudes are known, the instantaneous center may be found
by intersecting the line AB with the line joining the extremities of the vectors 𝑣𝐴 and 𝑣𝐵 .
Considering the rod in the figure and drawing the perpendicular to 𝑣𝐴 through A and the perpendicular to
𝑣𝐵 through B, we obtain the instantaneous center C. At the instant considered, the velocities of all the
particles of the rod are thus the same as if the rod rotated about C. Now, if the magnitude 𝑣𝐴 of the
velocity A is known, the magnitude 𝜔 of the angular velocity of the rod may obtained by writing
𝑣𝐴 𝑣𝐴
𝜔= =
𝐴𝐶 𝑙cosθ
The magnitude of the velocity of B may be obtained by writing
𝑣𝐴
𝑣𝐵 = 𝐵𝐶 𝜔 = 𝑙sinθ = 𝑣𝐴 tanθ
𝑙cosθ
The instantaneous center of a slab in plane motion can be located either on the slab or
outside the slab. If it is located on the slab, the particle C coinciding with the instantaneous
center at a given instant t must have zero velocity at that instant. This means that, in
general, the particle C does not have zero acceleration and, therefore, that the
accelerations of the various particles of the slab cannot be determined as if the slab were
rotating about C.
Sample Problem
The double gear shown rolls on the stationary lower rack; the velocity of its center A is 1.2 m/s directed
to the right. Determine (a) the angular velocity of the gear, (b) the velocities of the upper rack R and of
point D of the gear.
 SOLUTION:

a. Angular Velocity of the Gear.

Since the gear rolls on the stationary lower rack, the point of contact C of the gear with the rack has no
velocity; point C is therefore the instantaneous center of rotation. We write
𝑣𝐴 = 𝑟𝐴 𝜔 ; 1.2 𝑚/𝑠 = (0.150m)𝜔
𝜔 = 8 𝑟𝑎𝑑/𝑠 i
b. Velocities
As far as velocities are concerned, all points of the gear seem to rotate about the instantaneous center.

Velocity of Upper Rack

Recalling that 𝑣𝑅 = 𝑣𝐵 we write
𝑣𝑅 = 𝑣𝐵 = 𝑟𝐵 𝜔 ; 𝑣𝑅 = (0.250 𝑚)(8 𝑟𝑎𝑑/𝑠) = 2 m/s
𝑣𝑅 = 2 𝑚/𝑠
Velocity of Point D
𝑣𝐷 = 𝑟𝐷 𝜔 ; 𝑣𝐷 = (0.2121 𝑚)(8 𝑟𝑎𝑑/𝑠) = 1.697 m/s
𝑣𝐷 = 1.697 𝑚/𝑠
16.9 Plane Motion of a Particle Relative to a
Rotating Frame: Coriolis Acceleration

 Frame OXY is fixed and frame Oxy rotates with angular velocity Ω.
 Position vector rp for the particle P is the same in both frames but the rate
of change depends on the choice of frame.
 The absolute velocity of the particle P is
 Imagine a rigid slab attached to the rotating frame Oxy or F for short. Let P’ be a
point on the slab which corresponds instantaneously to position of particle P.

Absolute velocity for the particle P may be written as

16.10 Motion About a Fixed Point
16.11. General Motion

 A plane motion which is neither translation nor a rotation. However, the

general plane motion can always be considered as the sum of translation and
rotation.
Derivation of General Motion Equation:
 A rigid body experiencing a state of general motion in three-dimensions is
shown below.
 The variables in the figure are defined as follows:

 A is an arbitrary point on (or in) the rigid body,

B is an arbitrary point on (or in) the rigid body,
w is the angular velocity of the rigid body, with respect to ground
α is the angular acceleration of the rigid body, with respect to ground,
r is the position vector from point A to point B. This vector is measured
relative to the local xyz axes.

Both coordinate systems XYZ and xyz are defined as parallel to each other.
This is done so that vector components relative to each coordinate system can
be directly added together (since x is parallel to X, y is parallel to Y, and z is
parallel to Z).

The first coordinate system is the global XYZ reference frame. This reference
frame is defined as fixed to the ground. The point o is the origin of XYZ.
Example:
The crane rotates with a constant angular velocity 𝜔1 = 0.30 𝑟𝑎𝑑/𝑠 and the boom is being
raised by a constant angular velocity 𝜔2 = 0.50 𝑟𝑎𝑑/𝑠. The length of the boom is l = 12 m.
Determine:
 Angular velocity of the boom
 Angular acceleration of the boom
 Velocity of the boom tip
 Acceleration of the boom tip
 Solution:
With 𝜔1 = 0.30𝑗 𝜔2 = 0.50𝑘
𝒓 = 12(cos 30𝑖 + sin 30𝑗) = 10.39𝑖 + 6𝑗
Angular velocity of the boom,
𝜔 = 𝜔1 + 𝜔2

Angular acceleration of the boom,

𝑎 = 𝜔1 + 𝜔2 = 𝜔2 = 𝜔2 𝑜𝑥𝑦𝑧 + 𝛺 ∗ 𝜔2
= 𝜔1 ∗ 𝜔2

Velocity of boom tip,

𝐯= ω∗r
Angular velocity of the boom,

𝜔 = 𝜔1 + 𝜔2
𝜔 = 0.30 𝑟𝑎𝑑/𝑠 𝑗 + 0.50 𝑟𝑎𝑑/𝑠 𝑘

Angular acceleration of the boom,

𝑎 = 𝜔1 + 𝜔2 = 𝜔2 = 𝜔2 𝑜𝑥𝑦𝑧 + 𝛺 ∗ 𝜔2
= 𝜔1 ∗ 𝜔2 = 0.30 𝑟𝑎𝑑/𝑠 𝑗 + 0.50 𝑟𝑎𝑑/𝑠 𝑘
𝑎 = (0.15 𝑟𝑎𝑑/𝑠 2 )𝑖
Velocity of boom tip,
𝑖 𝑗 𝑘
𝐯= 𝜔∗𝑟 = 0 0.3 0.5
10.39 6 0
𝐯 = − 3.54 𝑚/𝑠 𝑖 + 5.20 𝑚/𝑠 𝑗 − 3.12 𝑚/𝑠 𝑘

Acceleration of boom tip,

𝑎 =𝒂∗𝑟+𝜔∗ 𝜔∗𝑟 =𝑎∗𝑟+ 𝜔∗𝑣

𝑖 𝑗 𝑘 𝑖 𝑗 𝑘
𝑎 = 0.15 0 0 + 0 0.30 0.50
10.39 6 0 −3 5.20 −3.12
= 0.90𝑘 − 0.94𝑖 − 2.60𝑖 − 1.50𝑗 + 0.90𝑘
𝑎 = − 3.54 𝑚/𝑠 2 𝑖 − 1.50 𝑚/𝑠 2 𝑗 + 1.80 𝑚/𝑠 2 𝑘
16.12. Coriolis Acceleration

 An object that moves within a rotating reference frame experiences a

pseudoforce called the Coriolis force. The acceleration that causes
this force is referred to as the Coriolis Acceleration.
 To explain the Coriolis force it is first necessary to explain Coriolis
acceleration.

When an object simultaneously rotates about a point and moves

relative to that point, an acceleration results from this. This
acceleration is called Coriolis acceleration.
16.13. Frame of Reference in General
Motion
 Motion of a body is always described with reference to some well defined
coordinate system. This coordinate system is referred to as 'frame of
reference'. In three dimensional space a frame of reference consists of three
mutually perpendicular lines called 'axes of frame of reference' meeting at a
single point or origin.The coordinates of the origin are O(0,0,0) and that of
any other point 'P' in space are P(x,y,z).The line joining the points O and P is
called the position vector of the point P with respect to O.
 A “frame of reference” is just a set of coordinates: something you use
to measure the things that matter in Newtonian problems, that is to
say, positions and velocities, so we also need a clock.
 A point in space is specified by its three coordinates (x, y, z) and an
“event” like, say, a little explosion, by a place and time: (x, y, z, t).
 An inertial frame is defined as one in which Newton’s law of inertia
holds—that is, any body which isn’t being acted on by an outside force
stays at rest if it is initially at rest, or continues to move at a constant
velocity if that’s what it was doing to begin with. An example of
a non-inertial frame is a rotating frame, such as a carousel.
 The “laws of physics” we shall consider first are those of
Newtonian mechanics, as expressed by Newton’s Laws of
Motion, with gravitational forces and also contact forces
from objects pushing against each other. For example,
knowing the universal gravitational constant from
experiment (and the masses involved), it is possible from
Newton’s Second Law,
 force = mass × acceleration,
 to predict future planetary motions with great accuracy.
 Suppose we know from experiment that these laws of
mechanics are true in one frame of reference. How do
they look in another frame, moving with respect to the
first frame? To find out, we have to figure out how to get
from position, velocity and acceleration in one frame to
the corresponding quantities in the second frame.
 Obviously, the two frames must have a constant relative
velocity, otherwise the law of inertia won’t hold in both
of them. Let’s choose the coordinates so that this
velocity is along the x-axis of both of them.
Notice we also throw in a clock with each frame.
Suppose S’ is proceeding relative to S at speed v along the x-axis. For
convenience, let us label the moment when O’ passes O as the zero point of
timekeeping.
Now what are the coordinates of the event (x,y,z,t) in S? It’s easy to see t’ = t,
we synchronized the clocks when O’ passed O. Also, evidently, y’ = y and z’ = z,
from the figure. We can also see that x = x’ + vt. Thus (x, y, z, t) in S
corresponds to (x’, y’, z’, t’) in S’, where
𝑥 𝑡 = 𝑥 − 𝑣𝑡
𝑦𝑡 = 𝑦
𝑧𝑡 = 𝑧
𝑡𝑡 = 𝑡

That’s how positions transform; these are known as the Galilean transformation.
What the about velocities? The velocity in S’ in the x’ direction

𝑑𝑥 𝑡 𝑑𝑥 𝑡 𝑑 𝑑𝑥
𝑢𝑥𝑡 = 𝑡 = = 𝑥 − 𝑣𝑡 = − 𝑣 = 𝑢𝑥 − 𝑣
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡
This is obvious anyway: it’s just the addition of velocities formula

𝑢𝑥 = 𝑢𝑥𝑡 + 𝑣

How does acceleration transform?

𝑑𝑢𝑥𝑡 𝑑𝑢𝑥𝑡 𝑑 𝑑𝑢𝑥

= = 𝑢 − 𝑣 =
𝑑𝑡 𝑡 𝑑𝑡 𝑑𝑡 𝑥 𝑑𝑡

Since, v is constant.
That is to say,
𝑎𝑥𝑡 = 𝑎𝑥

The acceleration is the same in both frames. This again is obvious, the
acceleration is the rate of change of velocity, and the velocities of the same
particle measured in the two frames differ by a constant factor – the relative
velocity of the two frames.
 Sources

 Beer Ferdinand M., Johnstoon E. Russell Jr , Clausen William E (2004). Vector Mechanics
for Engineers Dynamics (Seventh Edition). New York. McGraw-Hill
 Beer Ferdinand M., Johnstoon E. Russell Jr. (2003) Vector Mechanics for Engineers
Dynamics (Seventh Edition) Lecture Notes: Olter, J. Walt. New York. McGraw-Hill.
Retrieved from https://www.scribd.com/presentation
 Beer Ferdinand M., Johnstoon E. Russell Jr., Cornwell Phillip (2013).Vector Mechanics For
Engineers Statics And Dynamics ( 10th Edition). New York. McGraw-Hill. Retrieved from
https://archive.org
 Pytel, Andrew, Kiusalaas, Jaan (2010). Engineering Mechanics Dynamics (third edition).
Cincinatti. Cengage Learning
 https://www.scribd.com/doc/53474083/41689395-DYNAMICA-HS16
 https://phys.libretexts.org/Core/Relativity/Frames_of_Reference_and_Newton%E2%80%
99s_Laws
 https://www.real-world-physics-problems.com/coriolis-force.html
 https://www.real-world-physics-problems.com/general-motion.html