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Let be an inertial reference frame and frame be aligned with and translating with velocity Frame is a polar frame with angular velocity is free to move in A.)
Derive the following using the coordinates shown in Figure 3.43:
a. The transformation table between A and B
b. The position rP/O of P with respect to O expressed as components in B.
d. The velocity BvP/O and acceleration BaP/O of P with respect to O in B expressed as components in B.
e. The velocity AvP/O and acceleration AaP/O of P with respect to O in A expressed as components in B.

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