Can anybody please explain the derivation of transformation of a frame rotating with constant angular velocity w.r.t. a stationary frame. It can't understand it from my book. The derivation started with assuming origins of both frames K (stationary) and Kp(rotating) are same. So the position vectors are equal i.e r=rp .Then for displacement vectors we can write
$$ dr=v_p\cdot dt + (d\phi \times r)$$
so by dividing dt I got
$$v=v_p + (\omega \times r)$$
then
$$dv = dv_p + (\omega \times dr)$$
up to there is everything ok.
I thought by dividing by $dt$ I will obtain acceleration. But that gives a different result. I don't know why?
