Each rotation term can be written as cross products, giving
**a**_{B} = **a**_{A} + **ω**_{AB} × (**ω**_{AB} × **r**_{AB}) + **α**_{AB} × **r**_{AB}
This form shows that the relative acceleration is composed of the translating motion of base point A and the rotating motion of point B about A.
For plane motion, the normal rotation terms
can be simplified as -ω^{2}r giving
**a**_{B} = **a**_{A} - ω^{2}**r**_{AB} + **α** × **r**_{AB}
Another way to write the relative acceleration equation is
**a**_{B} = **a**_{A} - ω^{2}r**e**_{n} + αr**e**_{t} |