Velocity of a dog is 15 units in the positive X direction and 3 units in positive Y direction starting from the origin. Velocity of a pig is 7 units in the positive Y direction and 17 units in the positive X direction starting from the origin. What is the relative velocity of the dog with respect to the pig?

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Velocity of a dog is 15 units in the positive X direction and 3 units in positive Y direction starting from the origin. Velocity of a pig is 7 units in the positive Y direction and 17 units in the positive X direction starting from the origin. What is the relative velocity of the dog with respect to the pig?