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Fermi–Walker transport and Thomas precession

An exact derivation of the Thomas precession formula is presented based on the Fermi–Walker transport equation. Given that the Thomas precession effect is not a particularly intuitive phenomenon, such that when discovered in 1925 it took by surprise even experts in relativity theory, Einstein included, an alternative perspective can be useful at an intermediate level for physics students. The existing literature linking the Thomas precession to Fermi–Walker transport use geometric algebra as mathematical tool. Here the mathematics is kept within the limits of the usual vector and tensor algebra commonly used in special relativity theory at a level appropriate for advanced undergraduate and beginning graduate students.