The following example are designed to get you used to "playing the changes", where you purposely 'address' each chord as play over it. Each example starts with our familiar favourite, Am Pentatonic, for four bars, before introducing a new chord.
Relative scales share the same notes, so they can be used interchangeably, however, it is super important that you target the notes in the 'chord of the moment', or it can sound like you don't know what you are doing. For example; the A note sounds great over the Am chord, but can sound unresolved over the the C chord. Likewise, the G is a chord tone over the C, but can sound a little odd if you focus on it when playing over the Am.
Example 1. The following diagrams below show the two scales in the same position - you just need to adjust your "Target Notes" when the chords change.
These diagrams demonstrate how you can move into the next position when the chord changes; many people find the Target Notes easier to visualise in this scale shape as it is easier to relate them to the C major Barre Chord shape.
Example 2. There is only one note different between these two scales; the E in the Am chord is replaced with an F to address the F chord. If you target these notes as the chords change, it will sound very professional!
Note that the F major Pentatonic scale is the same shape as Pattern 4 of the Am Pentatonic.
Example 3. The 2nd chord shape here is the same pattern as in the 1st example, just moved down the fretboard to start on G. The C to B change between the chords is a nice change to highlight!
This example gives you another option for playing over the G chord, by remaining in the same area of the fretboard.
Note that the G major Pentatonic scale is the same shape as Pattern 3 of the Am Pentatonic.
Example 4. Dm is the Relative Minor of F, so we can use the same shape we used in Example 3. We just need to target different notes. Again the E to F change is a nice idea to emphasise.
Example 5. The first example stays in position - the G to F# change is a strong idea to target!
Note that the D major Pentatonic scale is the same shape as Pattern 5 of the Am Pentatonic.
Because D is Relative Major of Bm, we can move our Am scale shape up 2 frets to play over the D - we just need focus on the different Chord Tones.
Example 6. The example is the most difficult to improvise over. Focus on the A to G#, or the C to B changes, or even the E note that is shared between the two chords.
Note that the E major Pentatonic scale is the same shape as Pattern 4 of the Am Pentatonic. It is also the same scale we used to play over the F chord in Example 2.