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I am familiar with the formulas between inertial frames of reference that move at a constant speed between each other. The observed object move at a constant speed or at a constant acceleration. It can be shown that while the positions and velocities are different in the two frames of reference the accelerations are the same....

What if the two frames are accelerating with respect to each other? I have never seen the formulas...

What if the object are accelerating at a non constant rate? Have these situations be investigated analytically? I am sure they have but I have never seen a book describing these generalizations.....

Thanks

fisico30