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The Lorentz transformation

x=(x'+Vt')/sqrt(1-V^2/c^2)

y=y'

z=z'

t=(t'+x'V/c^2)/sqrt(1-V^2/c^2)

where V is the relative speed of S' (prime frame) as measures in S (unprime frame)

To get the inverse transformation, prime the unprimed quantities and unprime the primed quantities, and make V negative.

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