If point A has velocity components v A = ( v A x , v A y , v A z ) and point B has velocity components v B = ( v B x , v B y , v B z ) then the velocity of point A relative to point B is the difference between their components: v A / B = v A − − v B = ( v A x − − v B x , v A y − − v B y , v A z − − v B z )