Simple cases study +2 When point A is moving Displac- 2 ement Rp=R+RPA APA APA Velocity 。=4+pM 3 AA =V+pe(io) X Accelerati APA on A。=A+Ap4 APA AP APA -A-0'pe+iapei AASimple cases study When point A is moving Displac - ement RRR P = +A PA Velocit y G G G ( ω) θ V pe i V V V i P A PA = + = + G G G G Accelerati V pe ( i ω) = A + AAA GGG on 2 P A PA i i A AAA A pe i pe θ θ ω α = + =− + G