If you have a bar AB which has an angular velocity Wab which pass through A the centre of rotation. Through a frame of reference that follows B If you rotate with the Wab the Bar AB will be stationary. And B will have a zero velocity I think u have to use a linear frame of reference to change the point through which the angular velocity passes through. I was studying General plane motion with rotation and translating reference axes Where Va = Vb + W x R(a/b) Vb = Va + W x R(b/a) Apparently W is the same for both equation. However does this apply if W is not centred at A or B ie it goes through a point C which is between A and B can u say the above equations hold?