diff --git a/bullet-featherstone/CMakeLists.txt b/bullet-featherstone/CMakeLists.txt
index c8ee36f41..fbae005e4 100644
--- a/bullet-featherstone/CMakeLists.txt
+++ b/bullet-featherstone/CMakeLists.txt
@@ -25,7 +25,7 @@ target_link_libraries(${bullet_plugin}
     gz-math${GZ_MATH_VER}::eigen3)
 
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
-install(TARGETS ${bullet_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
+install(TARGETS ${bullet_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 
 # The library created by `gz_add_component` includes the ign-physics version
 # (i.e. libgz-physics1-name-plugin.so), but for portability,
@@ -40,5 +40,5 @@ if (WIN32)
       ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
 else()
   EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
-  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
+  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 endif()
diff --git a/bullet/CMakeLists.txt b/bullet/CMakeLists.txt
index 134284448..f5553822c 100644
--- a/bullet/CMakeLists.txt
+++ b/bullet/CMakeLists.txt
@@ -25,7 +25,7 @@ target_link_libraries(${bullet_plugin}
     gz-math${GZ_MATH_VER}::eigen3)
 
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
-install(TARGETS ${bullet_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
+install(TARGETS ${bullet_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 
 # The library created by `gz_add_component` includes the gz-physics version
 # (i.e. libgz-physics1-name-plugin.so), but for portability,
@@ -40,5 +40,5 @@ if (WIN32)
       ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
 else()
   EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
-  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
+  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 endif()
diff --git a/dartsim/CMakeLists.txt b/dartsim/CMakeLists.txt
index fbf06aab7..1a39a989c 100644
--- a/dartsim/CMakeLists.txt
+++ b/dartsim/CMakeLists.txt
@@ -55,7 +55,7 @@ else()
 endif()
 
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
-install(TARGETS ${dartsim_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
+install(TARGETS ${dartsim_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 
 # The library created by `gz_add_component` includes the gz-physics version
 # (i.e. libgz-physics1-name-plugin.so), but for portability,
@@ -70,7 +70,7 @@ if (WIN32)
       ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
 else()
   EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
-  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
+  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 endif()
 
 # Testing
diff --git a/tpe/plugin/CMakeLists.txt b/tpe/plugin/CMakeLists.txt
index 573fe8adb..636a2b2c7 100644
--- a/tpe/plugin/CMakeLists.txt
+++ b/tpe/plugin/CMakeLists.txt
@@ -32,7 +32,7 @@ target_link_libraries(${tpe_plugin}
 )
 
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
-install(TARGETS ${tpe_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
+install(TARGETS ${tpe_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 
 # The library created by `gz_add_component` includes the gz-physics version
 # (i.e. libgz-physics1-name-plugin.so), but for portability,
@@ -47,7 +47,7 @@ if (WIN32)
       ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
 else()
   EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
-  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
+  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 endif()
 
 gz_build_tests(