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How can we determine whether the object ...

How can we determine whether the object is in rest or not?

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If any object changes its position with respect to another object, then it is said to be in motion with respect to another object otherwise it is said to be in rest.
For example, you are travelling in a bus moving with constant velocity and a book is there besides you. The book is stationary with respect to you.
But, the book is in motion with respect to a stationary observer on road.
Thus, the motion of any object is combined property of object and observer. There is no motion without observation position.
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