Figure 4.10

In Figure 4.10, there are two rigid bodies:
Body 1 (PURPLE) and Body 2 (SILVER).

There exists point P(t) (The ROCKET), which may or may not be rigidly attached to body 2, but is observable most conveniently from body 2.

In the figure, the absolute position vector of point P(t) must be expressed by adding the following:

1. The position vector of body 1;
2. The relative position vector of body 2 measured from Body 1;
3. The relative position of point P(t) measured from Body 2.

Also, Rocket velocity and acceleration must also account for frame angular velocities and acceleations: