Let the particle 1 and 2 be at points B and A at t=0 at the distance l1 and l2 from intersection point O.
Let us fix the inertial frame with the particle 2. Now the particle 1 moves in relative to this reference frame with a relative velocity vector (v12=v1-v2) and its trajectory is the straight line BP. Obviously, the minimum distance between the particle is equal to the length of the perpendicular AP dropped from point A on to the straight line BP(Fig.).



The sought time can be obtained directly from the condition that

