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Relative Motion of Two Points:
Let two points P1 & P2 moving with velocities V1 & V2 and accelerations a1 and a2. The velocity of P1 w. r. t. P2 is given and acceleration of P1 w. r. t. P2 is illustrated by
a12 = a1 - a2
V12 = V1 - V2
V21 = V2 - V2 = - V12
a21 = a2 - a1 = - a12
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