“…The position vector from the reference point to the crossing point r 4 , the position vector from the reference point to the machine centre a 4 , the unit normal n 4 and the unit vector u 4 of the coast side of the pinion tooth surface at the reference point M 2 can be represented as: As in Eqs. (11) to (14), the parameters and vectors of the gear and pinion tooth surfaces are replaced by the parameters and vectors of the pinion-generating surface and the pinion tooth surface. Thus, the vectors a 3 , e 3 , G 3 and p 3 are obtained in the coordinate system S 1 {i 1 , n 1 ×i 1 , n 1 } from the vectors a p1 , e p , G, p. Relative angular velocity ω p1 , relative velocity v p1 , relative acceleration a p1 of generating gear and pinion can be obtained from the abovementioned vectors.…”