The components of velocity of the moving origin are denoted by U, V, W, and the components of angular velocity of the frame of reference by P, Q, R; and then if u, v, w denote the components of fluid velocity in space, and u', v', w' the components relative to the axes at a point (x, y, z) fixed to the frame of reference, we have u =U +u' - yR +zQ, v =V +v -zP +xR, w=W +w -xQ +yP.