From the Galilean description of motion for a frame of reference moving relative to another frame considered stationary we know that
Figure 2.1: Primed reference frame moving in the z direction with velocity v.
[math]\displaystyle{ t= t' }[/math]
[math]\displaystyle{ x=x' }[/math]
[math]\displaystyle{ y=y' }[/math]
[math]\displaystyle{ z=z'+vt }[/math]
Using Einstein's Theory of Relativity, we know that the speed of light is a constant, c, for all reference frames. In the unprimed frame, from the definition of speed: