>>>A rigid body: A body that does not deform or change

Chapter shape. (That is, no matter how the body moves, the distance
between any two particles within the body remains constant.)
1 Rotational Motion >>>If a rigid body is in rotational motion, all the particles
constituting it undergo circular motion about a common axis.

>>>When an object (rigid body) rotates, it can speed up (or) slow

In This chapter, the concept and equation for rotational motion
down. During these time intervals, its angular velocity is changing
under constant angular acceleration and centripetal acceleration
therefore it has an angular acceleration.
will be studied.

Note
Change of angular position----------->Angular displacement,θ ( rad )
1.1 Rotational Motion Under Constant Angular
Rate of change of angular displacement------>Angular velocity,
Acceleration −1
ω (rad s )
Rate of change of angular velocity--------->Angular acceleration,
>>>In a circular Motion, the object just moves in a circle. −2
α (rad s )
1. Artificial satellites going around the earth at a constant
If ω does not change or if (ω=constant ) then α =0
height.
2. Turning of a car around curved path. If ω is changing (speed up or slow down) then it has angular
3. Whirling of a ball which is tied to the end of a string in a acceleration, α
horizontal circle.
180 °
(one revolution, 1 rev =2 π rad =360 °) (1 rad= =57.3 ° )
>>>In rotational Motion, the object rotates about an axis. π
1. Rotation of earth about its own axis which creates the cycle Other units of angular velocity are rpm (revolution per minutes),
of day and night. rps (revolution per second).
2. Motion of in rotation of the blades of a fan.

3.Motion of a Ferris wheel in an amusement park. >>> If angular velocity, ω change at a constant rate, then the
angular acceleration is constant. (It has constant angular
acceleration)
Rotational Motion under constant Angular ω=finial angular speed

Acceleration α =constant angular acc

If the angular velocity of the rotating object changes at a T= time taken
constant rate, then we can say that the angular acceleration is
constant and the motion is called the rotational motion under Deriving equation (2) Deriving equation
constant angular acceleration. (3)
ω+ω 0
For an object that rotates with a constant angular θ=ωt=( )t θ=ωt
acceleration, the kinematic equations for rotational motion can be 2
derived in terms of the angular displacement, angular velocity and ω +ω 0 ω−ω0
angular acceleration of the object at any instant of time. θ=¿ ¿( )( )
2 α
Kinematic Equations for rotational motion with 2ω 0 t+α t
2
2 2
¿ 2 αθ ¿ ω −¿ ω 0
constant angular acceleration. 2
ω−ω0 1 2
1. ω=ω 0 +αt ( ¿ ) α = θ=ω0 t+ α t 2 2
ω =ω 0+ 2 αθ
t 2
1 2( ) ω+ω 0
2. θ=ω0 t+ α t ¿ θ=ωt=( )t Table 1.1 Analogies between kinematic equation of linear and
2 2
2 2 angular motion
3. ω =ω 0+ 2 αθ
ω+ ω0
4. ω= (Average angular speed ) Linear equation Angular motion
2
v=v 0 + αt ω=ω 0 +αt
Deriving equation (1) 1 2 1 2
If the initial angular speed (magnitude of angular velocity
s=v 0 t+ α t θ=ω0 t+ α t
2 2
of the object at t=0) is ω 0 ,its angular speed ω❑at time t can be v +v 0 ω+ ω0
derived from the following constant angular acceleration. v= ω=
2 2
2 2 2 2
ω−ω 0 v =v 0 +2 αs ω =ω 0+ 2 αθ
We get, ω ¿ ω 0 +αt where,α =
t
ω 0=initial angular speed
 origin, the relation between arc length s and angular displacement θ
, measured in radian, is s=rθ where r is the radius of the circle.

Relations Between Liner and Angular Quantity Linear quantities Rotational quantities Relation
Quantities Displacement S(m) θ(rad) s= rθ
Let us consider a randomly shaped rigid body undergoing a Tangential V V(m/s) ω (rad / s) v= rω
rotational motion as shown in Figure 1.2 (a). All particles of the body Tangential Ac a(m/s2) α (rad / s 2) at= rα
move in a circle lying on a plane that is perpendicular to the axis,
such that the center of rotation lies on the axis as shown in Figure
1.2(b). >>> The instantaneous angular velocity ω of rotational object is the
same for all the particles comprising the object.

>>> However tangential velocities of the particles comprising the

object are not the same. It depends on the radius of the rotating
circle of each particle as shown below.

>>> Since the direction of linear velocity is tangent to the path, the
linear velocity is also called tangential velocity.

If the magnitude of the angular velocity of a rotating object

changes, the magnitude of linear velocity will also change and the
object will have a tangential acceleration, the direction of tangential
Figure 1.2 (a) Rotational motion of an object (b) circular motion of a
acceleration is always tangent to the circular path.
particle of the object

If the linear distance of a particle of rotating object

measured along the arc is s and the arc subtend angle θ at the
The tangential acceleration of a rotating object is a measure of how >>> The direction of the tangential velocity continuously changes as
fast the magnitude of tangential velocity changes. the object moves around the circle. Therefore, it has an acceleration
called centripetal acceleration.

>>> In uniform circular motion, since the

>>> The direction of angular velocity can be found by the right-hand
rule. object rotates with constant angular velocity; it has no angular
acceleration. (α =0 )
Right-hand Rule: Wrap the right hand around the axis of rotation so
that the figures are pointing in the direction of rotation. The thumb
points in the direction of the angular velocity vector.

>>> When the angular velocity is increasing (speed up), the angular
acceleration vector point in the same direction as the angular The magnitude of the centripetal acceleration
velocity. When the angular velocity is decreasing (slow down), the The triangle CAB of figure 1.3 (a) is geometrically
angular acceleration vector points in the opposite to the angular similar to vector triangle of figure 1.3 (b);
velocity.

∆ v ∆s
>>> The direction of the angular velocity vector and the angular Since v 1=v 2=v ≈
v r
acceleration vector are perpendicular to the plane of rotation, and
along the axis of rotation.
∆v ∆ s
1.3 Centripetal Acceleration When ∆ t approaches zero =
v r
Uniform Circular Motion

v
When an object moves in a circle at constant speed ∆ v= ∆ s
r
v, its motion is uniform circular motion.

The centripetal acceleration a c can be obtained as

>>> The magnitude of the tangential velocity remains constant;
thus, it has no tangential acceleration. (a T =0 )
 ∆v v ∆s v ∆s
a c =lim ¿ ∆ t → 0 =lim ¿ ∆ t → 0 = lim ¿∆ t →0 ¿¿¿
∆t r ∆t r ∆t

∆s
Where lim ¿∆ t →0 ¿ is the linear speed v
∆t
Nonuniform Circular Motion
2
v
Therefore a c=
r
When an object is moving in a circular path with a
varying speed (magnitude of velocity) its motion is nonuniform
2
circular motion.
By substituting v=rω , a c =r ω

>>> In nonuniform circular motion, since the angular speed of the

→ ω−ω 0
object is changing, it has the angular acceleration α .(α= )
t
Centripetal acceleration (a →c )

For uniform circular motion, the centripetal >>>In nonuniform circular motion, there is tangential acceleration (
→ →
acceleration vector point towards the center of the circular path a c ) and also centripetal acceleration (a c ) as shown in figure 1.5.
while the linear velocity vector is tangential to the path. This
acceleration is called centripetal acceleration.

→
>>> In uniform motion, the centripetal acceleration (a c ) and linear
→
or tangential velocity ( v T ) its perpendicular to each other at every
point in the path as shown in Figure 1.4.
>>> the resultant acceleration is the vector sum of the
→ → →
Centripetal and tangential acceleration. α =ac +aT

√
The magnitude of resultant acceleration α → is a= a2c +a 2T

→ aT
The direction of resultant acceleration α is tan ∅ =
ac
→ →
>>> The two acceleration vectors a c ∧at are perpendicular to each
→ →
other, will a c in the radial direction and a c in the radial direction
→
and a T in the tangential direction.
→
>>> The resultant acceleration a❑ point at an angle between
→ →
a c ∧at .

Note
→
The centripetal acceleration a c is present in both uniform and
→
nonuniform circular motion. Tangential acceleration a T is present in
only nonuniform circular motion.