1 polar system

(1) Point A can be y

A
described by（r,θ） y

(2) Transformations r
between rectangular 
o x x
system and polar
system： x  r cos θ
y  r sin θ
1
2 Natural system

Tangential Unit Vector e

Normal Unit Vector en
The both are variable. 
 e
en

en

e
2
3 Angular speed
Angular position  (t ) y
B
Angular displacement 
 A
The increment of angular r

position in time interval t. o x
The right direction is anticlockwise.
 d
Angular speed  lim 
　
t 0 t dt unit：rad·s-1
Δs Δθ
 speed v  lim  r lim
　 ; v  r
Δt 0 Δt Δt 0 Δt

 ds   
 velocity v  e  ve  re
dt
3
4 tangential acceleration and normal
acceleration 
v2 
e 2
Circular motion with varying velocity 
   v1
v  ve  rωe
   
 dv dv  de  e 1
a  e  v  o
r A
dt dt dt

a  dv  r d  r
 v1
v2
dt dt   
 Angular acceleration e 2 e 1
d
 unit：rad·s-2
dt 4
How to solve the derivatives of 
v2 
tangential unit vector? e 2
  
 v1
Δe de dθ  en
lim   en 
Δt 0 Δt dt dt  e 1
o 
Normal unit vector r A

 dv   
a  e  ven 
e 
e 1
dt e 2

Tangential Normal
acceleration acceleration
5
 
v2
tangential acceleration 
e 2

 v1
 dv   en
a  e  re 
dt  e 1
o 
normal acceleration
r A


 d  2  v 2
v
an  v en   ren  en 
v 
vn 
dt r v1
 
   v2
note：v  v  vn
6
 Acceleration for circular y 
motion
v
    a
a  a  an a 

e
  2  A
a  re  rω en 
an en
o x
magnitude a  a  a
2 2
n

an 1
direction θ  tan
a

7
 Relationship between angular
and linear quantities y
ds  rd B
ds
ds d r d
A
v r  r 
dt dt o x
v 2
an   r 2

r
dv d
a  r  r
dt dt

8
  d d 2
  lim   2 Unit :rads-2
t  0 t dt dt

Discussion

 0  C uniform circular motion

 C uniform variable circular motion

 C variable circular motion

5 uniform circular motion and constant
angular acceleration
(1) Uniform circular motion
  C， so a  0，an  r 2

  
a  anen  rω2en
d
From   ， We can get d  dt，
dt
when t  0    0

   0  t
10
2 constant angular acceleration
  C， a r，an  r
2

dω dω  dt
 C，
dt d  dt，
when t  0 ,   ，  
0 0

 0  t
1 2
so： θ  θ 0   0 t  t
2
2  02  2 ( 0)
These equations are similar to the
uniformly-acceleration rectilinear motion
11
All corresponding equations are listed
below
 0  t
1 2
θ  θ0  0t  t
2
2  02  2 ( 0 )
v  v0  at
1 2
s  s0  v0t  at
2
v  v0  2a(s  s0 )
2 2

12
 Formula in Common Use

d
（1）
ds
  ＝R  R v  R
dt dt

dv d
（2 ） a  R a  R
dt dt

v2
（3 ） an 
R
 v an  R  2
Exercise 1
A particle does the circle motion of radius R
followed the law s  v0 t 
1 2
bt
2
there v0 and b are constants.

Find: (1) the total acceleration;

(2) what is t when the magnitude of
the total acceleration equals b?
s
(3) How many are the circles passed
by the particle when the magnitude of the
total acceleration equals b? o
P
R
 ds dv d2s
v  v0  bt aτ   2  b
dt  dt dt

a v 2 (v0  bt ) 2
 n 
R R
( v  bt ) 2
 ( bR ) 2

a aτ2  a n2  0

R
(2) when a=b,

(v0  bt) 2  (bR) 2 v0

a b t
R b
（3）when a = b ，we have t = v0/b . The circles passed
by the particle are

s  v 0 t  bt /2  v /2 b
2 2
0

s v02
n 
2R 4Rb
  Exercise2

The center of a flywheel is O. r =0.2 m. The motion

equation of M is
  t 2  4t v

Find the velocity and an M
acceleration of M after
R
three second. 0 θ  a x
a 
Solution

d
  2 t  4 rad s
dt
d
   2 rad s 2
dt
v  r  r (2t  4)  0.4 m s

a a  a n2  0.89 m s 2
2

tg  an a  2   63.40
Homework:
A wheel rotates with an angular acceleration β given
by β=4at3-3bt2 where t is the time and a and b are
constants. If the wheel has an initial angular velocity
ω0, write the equations for
(1) The angular velocity
(2) The angle turned through as functions of time if
the initial angle is defined to be zero.