Coriolis Acceleration Position of slider 一02 AP脚 Rp=pe 02 Velocity of slider ,-pei Rp Transmission Slip velocity velocity 02 02 Acceleration: A,=peio+pe”(io）'+peia+ie”+pei0 Combining terms: -[(p-poi)+i(rg+2p Coriolis acc.occurs when a body has vslip and w Slip Normal Tangential CoriolisCoriolis Acceleration i . R p p e θ = G Position of slider p p Velocity of slider i i θ θ G V pe i pe p = + ω  Transmission Slip velocity velocity Acceleration: ( ) 2 i i i ii A pe i pe i pe i pe pe i p θ θ θ θθ = + + ++ ω ωα ω G    ( ) ( ) 2 2 i A p p ip p e θ = ⎡ ⎤ − ω αω + + ⎣ ⎦ G   Combining terms: Coriolis acc. occurs when A p p ip p e p ( ω αω ) ( 2 ) = ++ ⎡ ⎤ ⎣ ⎦ Slip Normal Tangential Coriolis a body has vslip and w