On the relation of Thomas rotation and angular velocity of reference frames

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Abstract: In the extensive literature dealing with the relativistic phenomenon of Thomas rotation several methods have been developed for calculating the Thomas rotation angle of a gyroscope along a circular world line. One of the most appealing concepts, introduced in cite{rindler}, is to consider a rotating reference frame co-moving with the gyroscope, and relate the precession of the gyroscope to the angular velocity of the reference frame. A recent paper cite{herrera}, however, applies this principle to three different co-moving rotating reference frames and arrives at three different Thomas rotation angles. The reason for this apparent paradox is that the principle of cite{rindler} is used for a situation to which it does not apply. In this paper we rigorously examine the theoretical background and limitations of applicability of the principle of cite{rindler}. Along the way we also establish some general properties of {it rotating reference frames}, which may be of independent interest.











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