Velocity of Point on Rotating Body

Theorem
Let $B$ be a body undergoing rotational motion around an axis $A$.

Let the angular velocity of $B$ about $A$ be $\bsomega$.

Let $O$ be an arbitrary point on $A$.

Let $P$ be a point in $B$ whose position vector $O$ is $\mathbf r$.

Then the velocity $\mathbf v$ of $P$ is given by:


 * $\mathbf v = \bsomega \times \mathbf r$