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Elchanan Shochat Mechanization Director, Extension Services, Ministry of Agricultural and Rural Development
R= x i y j
where:
x position of the ant on the x axis
y position on the y axis
i direction of the local x axis
j direction of the local y axis
A dot above a letter with an arrow above it means a change of the vector in time, so the velocity, V can
also be written as
R , or:
R = x i y j x i y j
The first two terms are the time change of the position vector relative to the frame, expressed as V rel ,
while the second two terms are the time change of the vector's direction and is equal to
R . The
acceleration of R, or the change in time of the change of time of R, is written as R , and thus
=Vrel
R
R
R
Any change in the direction of a position vector counts as its velocity. Therefore, in a similar vein, the
change in direction of the velocity vector constitutes part of its acceleration. Expanding the above term
by inserting the expressions for vectorial change in time, we obtain:
, or
V =
a =arel Vrel Vrel
R R