Question: Useful formulae: v P = v Q + P Q r P Q , a P = a Q + a P Q , t

Useful formulae:
vP=vQ+PQrPQ,aP=aQ+aPQ,t+aPQ,n,aPQ,t=PQrPQ,aPQ,n=PQvPQ=-PQ2rPQ
Useful formulae: v P = v Q + P Q r P Q , a P = a

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