Here, rp is the position vector of the point, P, relative to O. We point out that the angular velocity and lar acceleration are the same for all the points in the rigid body ADDITIONAL READING J. L. Meriam and L G. Kraige, Engineering Mechanics, DYNAMICS, 5th Edition 7/1,7/2,7/3,7/4,7/5,7/6( review)Here, r ′ P is the position vector of the point, P, relative to O′ . We point out that the angular velocity and angular acceleration are the same for all the points in the rigid body. ADDITIONAL READING J.L. Meriam and L.G. Kraige, Engineering Mechanics, DYNAMICS, 5th Edition 7/1, 7/2, 7/3, 7/4, 7/5, 7/6 (review) 6