Consider the problem of a point p rotating around a given axis. The axis of rotation is ω , |ω| = 1 , and q is a point on the axis. Assuming that the point rotates around the axis with unit angular velocity, then the velocity of the point p(t) is
p'(t) = ω x ( p(t) - q )
I'm looking for a more detailed explanation for this equation, as it is not the same with the classic equation of angular velocity. I'm confused with the term p(t) - q in the right hand side.
Thanks