ANGULAR MOTION

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Objectives: After completing this
module, you should be able to:
• Define and apply concepts of angular
displacement, velocity, and acceleration.
• Draw analogies relating rotational-motion
parameters (θ, ω, α) to linear (x, v, a)
and solve rotational problems.
• Write and apply relationships between
linear and angular parameters.

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Rotational Displacement, θ
Consider a disk that rotates from A to B:
B
Angular displacement θ:
θ
A Measured in revolutions,
degrees, or radians.

1 rev = 360 0 = 2π rad

The
The best
best measure
measure for for rotation
rotation of
of
rigid
rigid bodies
bodies isis the
the radian.
radian.
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 Definition of the Radian
One radian is the angle θ subtended at
the center of a circle by an arc length s
equal to the radius R of the circle.

s s
θ=
R

s
1 rad = = 57.30
R
360 degrees = 6.283185 radians 4
Example 1: A rope is wrapped many times
around a drum of radius 50 cm. How many
revolutions of the drum are required to
raise a bucket to a height of 20 m?
s 20 m
θ= = θ = 40 rad R
R 0.50 m

Now, 1 rev = 2π rad


θ = (40 rad ) 1 rev 
π  h = 20 m
 2 rad 
θθ == 6.37
6.37 rev
rev
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Example 2: A bicycle tire has a radius of
25 cm. If the wheel makes 400 rev, how
far will the bike have traveled?

 2π rad 
θ = (400 rev) 
 1 rev 
θ = 2513 rad
s = θ R = 2513 rad (0.25 m)

ss =
= 628
628 m
m

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 Angular Velocity
Angular velocity,ω, is the rate of change in
angular displacement. (radians per second.)
∆θ
ω= Angular velocity in rad/s.
∆t
Angular velocity can also be given as the
frequency of revolution, f (rev/s or rpm):

ωω==2πf
2πf Angular frequency ff (rev/s).
Angular frequency (rev/s).
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Example 3: A rope is wrapped many times
around a drum of radius 20 cm. What is
the angular velocity of the drum if it lifts the
bucket to 10 m in 5 s?
s 10 m
θ= = θ = 50 rad R
R 0.20 m

∆θ 50 rad
ω= =
∆t 5s
h = 10 m
ωω == 10.0
10.0 rad/s
rad/s

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Example 4: In the previous example, what
is the frequency of revolution for the drum?
Recall that ω = 10.0 rad/s.
ω = 2π f or f = ω
2π
R
10.0 rad/s
f = = 1.59 rev/s
2π rad/rev
Or, since 60 s = 1 min:
rev  60 s  rev h = 10 m
f = 1.59 = 95.5
s  1 min  min

ff == 95.5
95.5 rpm
rpm 9
 Angular Acceleration
Angular acceleration is the rate of change in
angular velocity. (Radians per sec per sec.)

∆ω
α= Angular acceleration (rad/s2 )
∆t

The angular acceleration can also be found

from the change in frequency, as follows:

2π (∆f)
α= Since ω = 2π f
t
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Example 5: The block is lifted from rest
until the angular velocity of the drum is
16 rad/s after a time of 4 s. What is the
average angular acceleration?
0
ω −ω ωf
α= f o
or α= R
t t
16 rad/s rad
α= = 4.00 2
4s s
h = 20 m

αα == 4.00 rad/s
4.00 rad/s22

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 Angular and Linear Speed
From the definition of angular displacement:
s = θ R Linear vs. angular displacement

∆s  ∆θ ⋅ R   ∆θ R
v= =  =  ∆t  v=ωR
∆t  ∆t   

Linear
Linear speed
speed =
= angular
angular speed
speed xx radius
radius

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Angular and Linear Acceleration:
From the velocity relationship we have:
v = ωR Linear vs. angular velocity

∆v  ∆v ⋅ R   ∆v 
v= =  =  ∆t  R a = αR
∆t  ∆t   

Linear
Linear accel.
accel. =
= angular
angular accel.
accel. xx radius
radius
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 Examples: R1 A
Consider flat rotating disk:
B
ωο = 0; ωf = 20 rad/s
R2
t=4s
R1 = 20 cm
What is final linear speed
R2 = 40 cm
at points A and B?
vAf = ωAf R1 = (20 rad/s)(0.2m); vAf = 4 m/s

vAf = ωBf R1 = (20 rad/s)(0.4m); vBf = 8 m/s

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 Acceleration Example

Consider flat rotating disk: R1 A

ωο = 0; ωf = 20 rad/s B
t=4s
R2
What is the average angular R1 = 20 cm
and linear acceleration at B? R2 = 40 cm
ω f − ω0 20 rad/s
α= = αα== 5.00 rad/s
5.00 rad/s22
t 4s
a = αR = (5 rad/s2)(0.4 m) aa == 2.00 m/s22
2.00 m/s
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 Angular vs. Linear Parameters

Recall the definition of linear v f −v0

a=
acceleration a from kinematics. t

But, a = αR and v = ωR, so that we may write:

v f − v0 Rω f − Rω0
a= becomes αR =
t t
Angular acceleration is the time ω f − ω0
rate of change in angular velocity. α=
t
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A Comparison: Linear vs. Angular
 v0 + v f   ω0 + ω f 
s = vt =  t θ = ωt =  t
 2   2 

v f = vo + at ω f = ωo + α t

s = v0t + at 1
2
2
θ = ω0t + α t 1
2
2

s = v f t − at 1
2
2
θ = ω f t − αt 1
2
2

2as = v2 − v2 2αθ = ω − ω 2 2
f 0 f 0
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Linear Example: A car traveling initially
at 20 m/s comes to a stop in a distance
of 100 m. What was the acceleration?

Select Equation: 100 m

2as = v2 − v2
f 0 vo = 20 m/s vf = 0 m/s

0 - vo 2 -(20 m/s)2
a= = aa == -2.00 m/s
-2.00 m/s22
2s 2(100 m)

The minus (-) means deceleration or retardation i.e. slowing down

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Angular analogy: A disk (R = 50 cm),
rotating at 600 rev/min comes to a stop
after making 50 rev. What is the
acceleration?
Select Equation: ωo = 600 rpm
R
2αθ = ω f − ω 0
2 2 ωf = 0 rpm
θ = 50 rev
rev 2π rad 1 min 
600 min  1 rev 
  60 s  = 62.8 rad/s 50 rev = 314 rad
  

0 - ωo2 -(62.8 rad/s)2

α= = αα== -6.29 m/s
-6.29 m/s22
2θ 2(314 rad)
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 Problem Solving Strategy:
Draw and label sketch of problem.
Indicate + direction of rotation.
List givens and state what is to be
found. Given: , ,
(θ,ωο,ωf,α,t)
Find: ,
Select equation containing one and not
the other of the unknown quantities, and
solve for the unknown. 20
Example 6: A drum is rotating clockwise
initially at 100 rpm and undergoes a constant
counterclockwise acceleration of 3 rad/s2 for
2 s. What is the angular displacement?
Given: ωo = -100 rpm; t = 2 s +α
α = +2 rad/s2 R
rev  1 min  2π rad 
100    =10.5 rad/s
min  60 s  1 rev 
θ = ωot + αt = (−10.5)(2) + (3)(2)
1
2
2 1
2
2

θ = -20.9 rad + 6 rad θθ == -14.9

-14.9 rad
rad
Net displacement is clockwise (-)
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Summary of Formulas for Rotation
 v0 + v f   ω0 + ω f 
s = vt =  t θ = ωt =  t
 2   2 

v f = vo + at ω f = ωo + α t

s = v0t + at 1
2
2
θ = ω0t + α t 1
2
2

s = v f t − at 1
2
2
θ = ω f t − αt 1
2
2

2as = v2 − v2 2αθ = ω − ω 2 2
f 0 f 0
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END

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