1. The problem statement, all variables and given/known data A support is turning clockwise at Ω around the red axis. A motor on the support is turning at ω, ω is a frame support reference rotationnal velocity. Find the rotationnal velocity of the wheel ω' in the frame support reference. http://imageshack.com/a/img673/7631/wZhklo.png [Broken] 2. Relevant equations 3. The attempt at a solution For me, the rotationnal velocity of the wheel relative to the support is ω'=ω*R1/R2, is it correct ? ω' don't depend of Ω.