This might be a really dumb question but if $\vec v_A(t)=f_i(t)\hat i+f_j(t)\hat j$ and $\vec v_B(t)=g_i(t)\hat i+g_j(t)\hat j$ where $v_x$ is the velocity of $x$, then is the relative velocity of $B$ w.r.t $A$ just given by $\vec v_{B/A} = (g_i(t)-f_i(t))\hat i+(g_j(t)-f_j(t))\hat j\ ?$