M 1 m2

r3 = -2w x r3 + w x (w x r3) + — ri3 + — r23. (11.7)

r13 r23

The second term on the right-hand side is referred to as the 'centrifugal force' and is due simply to the rotation of the coordinate system. By contrast, the first term is due to the motion within the rotating frame of reference and is called the 'Coriolis force'.

If we write r3 = xi + yj + zk, take w = rnk so that the axis of rotation is perpendicular to the x-y plane with rotation rate rn, and define m1 m2

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