UNIT 4: ROTATIONAL AND CIRCULAR MOTION

ROTATIONAL MOTION:
A rigid body moves in pure rotation if every particle of the body moves in a circle having their
centers must lie on a straight line. This motion is called rotational motion and the straight line is called
axis of rotation.
➢ If the axis of rotation passes through the body itself, the motion is called spin motion.
➢ If the axis of rotation does not pass through the body, the motion is called orbital motion.
Uniform Circular Motion:
When a particle moves in a circular path with uniform speed (not velocity), this type of motion is
called UCM.
For example, motion of a fan.
Non-uniform Circular Motion:
When a particle moves in a circular path with non-uniform speed, this type of motion is called
non-UCM.
For example, motion of a fan when it is closed.
ANGULAR DISPLACEMENT:
The change in angular position is called angular displacement. It is denoted by 𝜃
Angular Position:
Angle formed by a particle at the center of a circle w.r.t the reference line (+ve x-axis) called
angular position.
Mathematically angular displacement is defined as:
“The ratio of the arc length ‘S’ to the radius of a circle ‘r’ is called angular displacement.”
𝑆
𝜃=
𝑟
Units of Angular displacement:
➢ SI unit is radian.
➢ Other units are degree and revolution.
(These units are the type of supplementary units)
Radian:
If arc length and radius are equal then the angular displacement is called one radian. It is a
dimensionless unit.
Note:
➢ 𝜋 𝑟𝑎𝑑 = 180°
➢ 1𝑟𝑒𝑣 = 360° = 2𝜋 𝑟𝑎𝑑
 ➢ 𝜃 = +𝑣𝑒, 𝑓𝑜𝑟 𝑐𝑜𝑢𝑛𝑡𝑒𝑟 𝑐𝑙𝑜𝑐𝑘𝑤𝑖𝑠𝑒
➢ 𝜃 = −𝑣𝑒, 𝑓𝑜𝑟 𝑐𝑙𝑜𝑐𝑘𝑤𝑖𝑠𝑒
ANGULAR VELOCITY:
“The rate of change of angular displacement is called angular velocity.” It is denoted by 𝜔.
∆𝜃
𝜔= ∆𝑡
Average
∆𝜃
𝜔𝑖𝑛𝑠𝑡 = lim Instantaneous
∆𝑡→0 ∆𝑡

Units of Angular Velocity:

➢ SI unit is 𝒓𝒂𝒅⁄𝒔 or 𝒓𝒂𝒅𝒔−𝟏

2𝜋 𝑟𝑎𝑑⁄
➢ Other unit is revolution per minute (rpm) 𝑵𝒐𝒕𝒆: 1 𝑟𝑝𝑚 = 𝑠
60

Direction:
It is a vector quantity and its direction is along axis of rotation determined by right hand rule.
➢ For counter clockwise; out of the page.
➢ For clockwise; into the page.
Time period:
Time required to complete one rotation is called time period. It is denoted by T.
∆𝜃
∵𝜔=
∆𝑡
∆𝜃 = 1 𝑟𝑒𝑣 = 2𝜋, 𝑤ℎ𝑒𝑛 ∆𝑡 = 𝑇

2𝜋
𝜔=
𝑇
1
∵𝑓=𝑇

∴ 𝜔 = 2𝜋𝑓

Angular frequency:
The angular velocity is also referred as angular frequency.
ANGULAR ACCELERATION:
“The rate of change of angular velocity is called angular acceleration.” It is denoted by 𝛼.
∆𝜔
𝛼= ∆𝑡
Average
∆𝜔
𝛼𝑖𝑛𝑠𝑡 = lim Instantaneous
∆𝑡→0 ∆𝑡

SI unit is 𝒓𝒂𝒅⁄ 𝟐 or 𝒓𝒂𝒅𝒔−𝟐 .

𝒔
Direction:
It is a vector quantity and its direction is along axis of rotation.
𝛼 = +𝑣𝑒, 𝑤ℎ𝑒𝑛 𝜔 𝑤𝑖𝑙𝑙 𝑖𝑛𝑐𝑟𝑒𝑎𝑠𝑒 𝑎𝑛𝑑 𝛼 𝑖𝑠 𝑎𝑙𝑜𝑛𝑔 𝑤𝑖𝑡ℎ 𝜔.
𝛼 = −𝑣𝑒, 𝑤ℎ𝑒𝑛 𝜔 𝑤𝑖𝑙𝑙 𝑑𝑒𝑐𝑟𝑒𝑎𝑠𝑒 𝑎𝑛𝑑 𝛼 𝑖𝑠 𝑜𝑝𝑝𝑜𝑠𝑖𝑡𝑒 𝑡𝑜 𝜔.
RELATION BETWEEN LINEAR QUANTITY AND ANGULAR QUANTITY
Prove that! 𝑽 = 𝒓𝝎: / Tangential velocity:
Consider a particle which is moving in a circular path of radius ‘𝑟’. As we know that
𝑆 = 𝑟𝜃
The change in linear displacement is:
∆𝑆 = 𝑟∆𝜃
Divided by ∆𝑡 on both sides where ∆𝑡 is the time interval during which the angular displacement has been
changed by ∆𝜃.
∆𝑆 ∆𝜃
=𝑟
∆𝑡 ∆𝑡
∆𝑆 ∆𝜃
∵ =𝑉& =𝜔
∆𝑡 ∆𝑡
𝑉 = 𝑟𝜔
Vector form,
⃗⃗⃗
𝑉𝑡 = 𝜔
⃗ ×𝑟
This velocity is called Tangential velocity or Linear Velocity. It is denoted by 𝑉𝑡 . It is defined as:
“When a particle moves in circular path its linear velocity is always tangent to the circle at any point is
called tangential velocity.”
Prove that! 𝒂 = 𝒓𝜶: / Tangential Acceleration:
Consider a particle which is moving in a circular path of radius ‘𝑟’. As we know that
𝑉 = 𝑟𝜔
The change in linear velocity is:
∆𝑉 = 𝑟∆𝜔
Divided by ∆𝑡 on both sides where ∆𝑡 is the time interval during which the angular velocity has been
changed by ∆𝜔.
∆𝑉 ∆𝜔
=𝑟
∆𝑡 ∆𝑡
 ∆𝑉 ∆𝜔
∵ =𝑎& =𝛼
∆𝑡 ∆𝑡
𝑎 = 𝑟𝛼
Vector form,
𝑎𝑡 = 𝛼 × 𝑟
⃗⃗⃗
This acceleration is called Tangential acceleration or Linear acceleration. It is denoted by 𝑎𝑡 . It is defined
as:
“The acceleration is produced due to the change in magnitude of velocity of a body when it is moving
along a circular path, this acceleration is along the tangent to the circle called tangential acceleration.”
CENTRIPETAL ACCELERATION:
“The acceleration is produced due to the change in direction of velocity of a body when it is moving
along a circular path, this acceleration is directed towards the center of the circle called centripetal
acceleration or radial acceleration.”
It is denoted by ‘𝑎𝑐 ’
Derivation:
Consider a particle which is moving in a circular path of radius ‘𝑟’ with constant speed ‘𝑉’ and
constant angular velocity ‘𝜔’. At time 𝑡1 its velocity is ⃗⃗⃗𝑉1 and at time 𝑡2 its velocity is ⃗⃗⃗
𝑉2 . Assume that
⃗⃗⃗1 | = |𝑉
the magnitude of both velocities is same i.e. |𝑉 ⃗⃗⃗2 | = 𝑉 as shown in fig (a).

(a) (b)
If we join the velocity vectors then we will get an isosceles triangle which is similar as the
triangle that is formed by radii and arc length as shown in fig (b). In this situation the arc length is too
small considered as a straight line whose length is ∆𝑆.
Since the ratio of the corresponding sides of similar triangles are equal, therefore,
∆𝑉 ∆𝑆
=
𝑉 𝑟
𝑉
∆𝑉 = ∆𝑆
𝑟
Divided by ∆𝑡 on both sides where ∆𝑡 is the time interval during which the velocity has been changed by
∆𝑉
 ∆𝑉 𝑉 ∆𝑆
=
∆𝑡 𝑟 ∆𝑡
∆𝑉 ∆𝑆
∵ = 𝑎𝑐 & =𝑉
∆𝑡 ∆𝑡
𝑉
∴ 𝑎𝑐 = 𝑉
𝑟

𝑉2
𝑎𝑐 =
𝑟
In terms of angular velocity put 𝑉 = 𝑟𝜔
(𝑟𝜔)2 𝑟 2 𝜔2
𝑎𝑐 = =
𝑟 𝑟

𝑎𝑐 = 𝑟𝜔2

In terms of frequency put 𝜔 = 2𝜋𝑓

𝑎𝑐 = 𝑟(2𝜋𝑓)2

𝑎𝑐 = 4𝜋 2 𝑟𝑓 2
1
In terms of time period put 𝑓 = 𝑇

1 2
𝑎𝑐 = 4𝜋 2 𝑟 ( )
𝑇

4𝜋 2 𝑟
𝑎𝑐 =
𝑇2
CENTRIPETAL FORCE
“Any net force acting towards the center of the circle which is required to move a body in a circular path
is called centripetal force.”
This force causes centripetal acceleration. It is denoted by ‘𝐹𝑐 ’
According to Newton’s 2nd law,
𝐹𝑐 = 𝑚𝑎𝑐
𝑚𝑉 2 2 2 2
4𝜋 2 𝑚𝑟
𝐹𝑐 = = 𝑚𝑟𝜔 = 4𝜋 𝑚𝑟𝑓 =
𝑟 𝑇2
Note: Centripetal force is not a new kind of force, for example
➢ The gravitational force acts as a centripetal force when planets orbiting around the
sun.
➢ The frictional force acts as a centripetal force when turning the car at roundabout.
 ➢ The tension in a rope act as a centripetal force when the ball rotating in circular
motion.
➢ The horizonal component of normal force acts as a centripetal force when the vehicle
turns in banked curve.
➢ The electrostatic force between electron and nucleus when the electrons orbiting
around the nucleus.
CENTRIFUGAL FORCE:
“The reaction of centripetal force is called centrifugal force which is directed away from the center of the
circle.” It is denoted by ‘𝐹𝑔 ’

A/c to Newton’s 3rd law of motion, ⃗⃗⃗ ⃗⃗⃗𝑐

𝐹𝑔 = −𝐹

APPLICATION OF CENTRIPETAL FORCE

I- TENSION FORCE IN VERTICAL CIRCLE:
Consider a ball of mass ‘𝑚’ moving in a vertical circle of radius ‘𝑟’ with constant speed ‘𝑉’
which is tied to the end of a string as shown in figure:

There are two forces acting on the ball:

i. Tension in a string (𝑇) towards the center of the circle.
ii. Weight of ball (𝑊 = 𝑚𝑔) vertically downward.
The both forces may provide the necessary centripetal force (𝐹𝑐 ) to the ball.
At point A: At point B:
𝐹𝑐 = 𝑇 + 𝑊 𝐹𝑐 = 𝑇 − 𝑊
𝑇 = 𝐹𝑐 − 𝑊 𝑇 = 𝐹𝑐 + 𝑊

𝑚𝑉 2 𝑚𝑉 2
𝑇𝐴 = 𝑟
− 𝑚𝑔 𝑇𝐵 = 𝑟
+ 𝑚𝑔

Tension is minimum at upper most point. Tension is maximum at lower most point.
At point C and D:
𝐹𝑐 = 𝑇
𝑇 = 𝐹𝑐

𝑚𝑉 2
𝑇𝐶 = 𝑇𝐷 = 𝑟

The tension force varies point to point in a vertical circle. If the string is break, the ball will
continue its motion in a straight line because the centripetal force is no longer.
IN HORIZONTAL CIRCLE:

𝐹𝑐 = 𝑇
𝑇 = 𝐹𝑐

𝑚𝑉 2
𝑇=
𝑟

The tension force is constant in a horizontal circle.

II- BANKED CURVED IN A ROAD:
“A road whose turning surface is not horizontal is called banked curve.”
For example, race track, highway road etc.
Why banked curve?
The banked curve is to decrease the dependency upon friction at the time of turning of a vehicle
so that the vehicle may easily be turned even at higher speed and at the most slippery surface.
Explanation:
Consider a vehicle turning on a frictionless banked road (ideal banked curve) of radius ‘𝑟’ with
velocity ‘𝑉’ as shown in figure:

The following are the forces acting on the vehicle:

i. Weight (𝑊 = 𝑚𝑔) vertically downward.
 ii. Normal reaction (𝑁) perpendicular to the surface.
The normal reaction can be resolved in their rectangular components i.e.
➢ Horizontal component = 𝑁 sin 𝜃
➢ Vertical component = 𝑁 cos 𝜃
The vertical component is balanced by the weight of the vehicle while the horizontal component of
normal reaction provides the necessary centripetal force to the vehicle. i.e.
𝑁 cos 𝜃 = 𝑊 𝑁 sin 𝜃 = 𝐹𝑐
𝑁 cos 𝜃 = 𝑚𝑔 → (1) 𝑚𝑉 2
𝑁 sin 𝜃 = → (2)
𝑟
Eqn. (2) divided by Eqn. (1)

𝑁 sin 𝜃 𝑚𝑉 2
=
𝑁 cos 𝜃 𝑚𝑔𝑟

𝑉2
tan 𝜃 = → (3)
𝑔𝑟

Banked angle:
The angle at which vehicle become inclined with respect to the horizontal is called banked angle.
From eqn. (3) the banked angle ‘𝜃’ may be written as:

𝑉2
𝜃 = tan−1 ( )
𝑔𝑟

Speed of vehicle:
From eqn. (3) the speed of vehicle may also be written as:
𝑉 2 = 𝑔𝑟 tan 𝜃
𝑉 = √𝑔𝑟 tan 𝜃

The above expression shows that the vehicles are stable only at a certain speed on ideal banked
curve but in real case vehicles are stable due to the both horizontal component of normal reaction and
friction between tire and road.
III- ORBITAL VELOCITY:
“The velocity of a body revolving around the larger body is called orbital velocity.”
Example:
➢ Moons and satellites orbiting around the planet.
➢ Planets orbiting around the sun and stars.
Explanation:
 Consider a satellite of mass ‘𝑚’ revolving around the central body (like earth) of mass ‘𝑀’ which
is comparatively large as shown in figure. Let, the orbital radius is 𝑅 and orbital velocity is 𝑉.

According to Newton’s law of universal gravitation, the gravitational force between both masses is given
by:
𝐺𝑀𝑚
𝐹𝐺 =
𝑅2
This gravitational force provides the necessary centripetal force (𝐹𝑐 ) to the satellite. i.e.
𝐹𝑐 = 𝐹𝐺
𝑚𝑉 2 𝐺𝑀𝑚
=
𝑅 𝑅2
𝐺𝑀
𝑉2 =
𝑅

𝐺𝑀𝑐𝑒𝑛𝑡𝑟𝑎𝑙 𝑏𝑜𝑑𝑦
𝑉𝑜𝑟𝑏𝑖𝑡𝑎𝑙 = √
𝑅

This formula shows that the orbital velocity is independent of the mass of satellite.
➢ Orbital velocity of Moon and satellites around the Earth is:

𝐺𝑀𝑒𝑎𝑟𝑡ℎ
𝑉𝑜𝑟𝑏𝑖𝑡𝑎𝑙 = √
𝑅

➢ Orbital velocity of Earth around the Sun is:

𝐺𝑀𝑠𝑢𝑛
𝑉𝑜𝑟𝑏𝑖𝑡𝑎𝑙 = √
𝑅

Conclusion:
The above formula shows that:
 ➢ The orbital velocity is independent of the mass of satellite around the Earth or mass of
planets around the sun,
➢ The orbital velocity is inversely proportional to the square root of the distance of satellite
or planets from the central body like earth or sun, respectively.
Relation between Orbital time period and Orbital radius: / Kepler’s third law:
Consider a satellite of mass ‘𝑚’ revolving around the central body (like earth) of mass ‘𝑀’ in an
orbit of radius ‘R’ as shown in figure.

The orbital velocity of that satellite may be written as:

𝐺𝑀
𝑉𝑜𝑟𝑏𝑖𝑡𝑎𝑙 = √ → (1)
𝑅

But as we know that

𝑆
𝑉=
𝑡
After completing one rotation,
𝑆 = 2𝜋𝑅 = 𝑐𝑖𝑟𝑐𝑢𝑚𝑓𝑒𝑟𝑒𝑛𝑐𝑒 𝑜𝑓 𝑜𝑟𝑏𝑖𝑡
𝑡 = 𝑇 = 𝑜𝑟𝑏𝑖𝑡𝑎𝑙 𝑡𝑖𝑚𝑒 𝑝𝑒𝑟𝑖𝑜𝑑 𝑂𝑅 𝑡𝑖𝑚𝑒 𝑡𝑎𝑘𝑒𝑛 𝑡𝑜 𝑐𝑜𝑚𝑝𝑒𝑙𝑒𝑡𝑒 𝑜𝑛𝑒 𝑜𝑟𝑏𝑖𝑡
Then, the orbital velocity may also be written as:
2𝜋𝑅
𝑉𝑜𝑟𝑏𝑖𝑡𝑎𝑙 = → (2)
𝑇
Compare eqn. (1) and eqn. (2)

𝐺𝑀 2𝜋𝑅
√ =
𝑅 𝑇

𝐺𝑀 2𝜋𝑅 2
=( )
𝑅 𝑇
 𝐺𝑀 4𝜋 2 𝑅2
=
𝑅 𝑇2
4𝜋 2 3
𝑇2 = 𝑅
𝐺𝑀
4𝜋 2
∵ = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝐺𝑀
∴ 𝑇 2 = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡 𝑅 3

𝑇 2 ∝ 𝑅3
This equation shows that “the square of the orbital time period is directly proportional to the cube of
orbital radius of the planets.” This statement is called Kepler’s third law of planetary motion.