ROTATIONAL KINEMATICS

ROTATIONAL MOTION

 Angular position and radian

 Angular displacement
 Angular velocity
 Angular acceleration
 Rotational motion under
constant angular acceleration
 Relations between angular and
linear quantities
ANGLE AND RADIAN
 What is the circumference S ?
s
s  ( 2 ) r 2 
r
 q can be defined as the arc length r s
s along a circle divided by the
radius r: q
s
q
r
 q is a pure number, but commonly
is given the artificial unit, radian
(“rad”)
 Whenever using rotational equations, you must use angles
expressed in radians
CONVERSIONS
 Comparing degrees and radians
2 (rad )  360  (rad )  180

 Converting from degrees to radians


q  rad   q  degrees 
180

 Converting from radians to degrees


180 360
q (deg rees)  q (rad ) 1 rad   57.3
 2
 RIGID OBJECT

 A rigid object is one that is nondeformable

 The relative locations of all particles making up
the object remain constant
 All real objects are deformable to some extent,
but the rigid object model is very useful in many
situations where the deformation is negligible
 This simplification allows analysis of the motion of
an extended object
ANGULAR DISPLACEMENT

 The angular displacement is

defined as the angle the
object rotates through
during some time interval

q  q f  qi
 SI unit: radian (rad)
 This is the angle that the
reference line of length r
sweeps out
AVERAGE AND INSTANTANEOUS ANGULAR SPEED

 The average angular speed, ωavg, of a rotating rigid

object is the ratio of the angular displacement to the
time interval
qf  qi q
avg  
tf  t i t
 The instantaneous angular speed is defined as the limit
of the average speed as the time interval approaches
zero q dq
  t 0
lim

t dt

 SI unit: radian per second (rad/s)

 Angular speed positive if rotating in counterclockwise
 Angular speed will be negative if rotating in clockwise
AVERAGE ANGULAR ACCELERATION

f  i 
 avg  
tf  t i t
 The average angular acceleration, a, of an object is
defined as the ratio of the change in the angular speed
to the time it takes for the object to undergo the
change:
t = ti: i t = tf: f

January 20, 2009

INSTANTANEOUS ANGULAR ACCELERATION

 The instantaneous angular acceleration is defined as the limit of

the average angular acceleration as the time goes to 0
 d
 lim
t 0 
t dt
 SI Units of angular acceleration: rad/s²
 Positive angular acceleration is in the counterclockwise.
 if an object rotating counterclockwise is speeding up
 if an object rotating clockwise is slowing down
 Negative angular acceleration is in the clockwise.
 if an object rotating counterclockwise is slowing down
 if an object rotating clockwise is speeding up
 KINEMATIC EQUATIONS OF ROTATIONAL MOTION

 A number of parallels exist between the equations for rotational

motion and those for linear motion.

x f  xi x qf  q i q
vavg   avg  
t f  ti t tf  t i t
 Under constant angular acceleration, we can describe the motion
of the rigid object using a set of kinematic equations
 These are similar to the kinematic equations for linear motion
 The rotational equations have the same mathematical form as the
linear equations
KINEMATIC EQUATIONS OF ROTATIONAL MOTION

 f  i   t
1 2
q f  qi  i t   t
2
 f  i  2 (q f  qi )t
2 2

q f  qi   t
 COMPARISON BETWEEN ROTATIONAL AND LINEAR EQUATIONS

 f  i   t v f  vi  at
1 2 1 2
q f  qi  i t   t x f  xi  vi t  at
2 2
 2f  i2  2 (q f  qi )t v 2f  vi2  2a( x f  xi )
q f  qi   t x f  xi  vt
 RELATIONSHIP BETWEEN ANGULAR AND
LINEAR QUANTITIES

 Every point on the rotating object

has the same angular motion
 Every point on the rotating object
does not have the same linear
motion
 Displacement s  qr

 Speeds v  r

 Accelerations a  r
EXAMPLE 1
 A wheel rotates with a constant angular acceleration of
3.5 rad/s2. If the angular speed of the wheel is 2.0 rad/s at
t=0

(a) through what angle does the wheel rotate between

t = 0 and t = 2.0 s? Given your answer in radians and in
revolutions.
(b) What is the angular speed of the wheel at t = 2.0 s?

i  2.0 rad / s q f  qi  ?
  3.5 rad / s 2 f  ?
t  2.0 s
 EXAMPLE 1 CONT.

 Solution
1 2 1
qi  i t   t  (2rad / s )  0   (3.5rad / s 2 )(0)  0rads
2 2
1 1
q f   f t   t 2  (2rad / s )  2 s   (3.5rad / s 2 )(2 s ) 2  11rads
2 2
q  q f  q1  11rads  0rads  11rads

1rev  2 rads
x =11rads
11rads  1rev
x  1.75revs
2 rads
EXAMPLE 1 CONT.

 f  i   t  2rads / s  (3.5rads / s 2 )(2.0 s )  9rad / s

 EXAMPLE 2

 A DVD disc in a computer rotates from rest up to an angular speed of 30

rad/s in a time of 0.8s.
 What is the angular acceleration of the disc, assuming the angular
acceleration is uniform.?
 How many rotations does the disc at that speed?
 If the radius of the disc is 4 cm, find the final linear speed of a cockroach
riding on the rim of the disc?
 What is the tangential acceleration of the cockroach at this time?
 EXAMPLE 1 CONT.
 What is the angular acceleration of the disc, assuming the angular
acceleration is uniform.?

 f  i   t
 f  i 30.0rad / s  0rad / s
   37.5rad / s 2
t 0.80
 How many rotations does the disc at that speed?
1 2 1
q  i t  at  (0rad / s )  (0.8s )   (37.5rad / s )(0.8) 2  12rad
2 2
converting from rad to revs
1rev  2 rad
x  12rad
12rad  1rev
x  1.91rev
2
 EXAMPLE 2 CONT.
 If the radius of the disc is 4 cm, find the final linear speed of a
cockroach riding on the rim of the disc?

v  r
v  (30rad / s )(0.04m)  1.2m / s

 What is the tangential acceleration of the cockroach at this time?

a  r
a  (37.5rad / s 2 )(0.04m)  1.5m / s 2
TASK 1

 A wheel starts from rest and rotates with constant

angular acceleration to reach an angular speed of
15.0rad/s in 3.0 s.
 Calculate the angular acceleration of the wheel?
 The angle in radian through which it rotates?
 Convert the angle calculated in part b to revs?
 UNIFORM CIRCULAR DANAMICS: DEFINITION

 Constant speed, or, constant magnitude of velocity

 Motion along a circle: Changing direction of velocity
 examples include the second, minute, and hour hands of a watch.
 UNIFORM CIRCULAR MOTION

 Velocity:  
 Magnitude: constant v
ac  v
 The direction of the velocity is tangent to the circle
 Acceleration:
v2
 Magnitude: ac 
r
 directed toward the center of the circle of motion
 Period:
 time interval required for one complete revolution of
the particle
2r
T
v
 ANGULAR SPEED

 The period of a particle in uniform circular motion is a measure of the number of

seconds for one revolution of the particle around the circle. The inverse of the
period is the rotation rate and is measured in revolutions per second. Because
one full revolution of the particle around the circle corresponds to an angle of 2𝜋
radians, the product of 2𝜋 and the rotation rate gives the angular speed 𝜔 of the
particle, measured in radians/s or 𝑠 −1 :
𝟐𝝅
𝝎=
𝑻
𝟐𝝅𝑹
But; 𝑻 = 𝒗
𝒗 𝒗
𝝎 = 𝟐𝝅 = = 𝒗 = 𝒓𝝎
𝟐𝝅𝒓 𝒓
ANGULAR SPEED CONT.

 We can express the centripetal acceleration of a particle in uniform circular

motion in terms of angular speed by;
𝑣2
 Since 𝑎𝑐 =
𝑟

 But 𝑣 = 𝜔𝑟
(𝑟𝜔)2
𝑎𝑐 = = 𝑟𝜔2
𝑟
 CENTRIPETAL FORCE
Acceleration:  
Magnitude: Fnet  v
Direction: toward the center of the circle of motion
Force: v2
Start from Newton’s 2nd Law ac 
  r Fnet
Fnet  ma
Magnitude: Fnet
mv 2 Fnet
Fnet  mac 
r
Direction: toward the center of the circle of motion  
ac || Fnet
 WHAT PROVIDES CENTRIPETAL FORCE ?

 Centripetal force is not a new kind of force

 Centripetal force refers to any force that keeps an object following a
circular path
mv 2
Fc  mac 
 Centripetal force is a combination of
r
 Gravitational force mg: downward to the ground
 Normal force N: perpendicular to the surface
 Tension force T: along the cord and away from object
 Static friction force: fsmax = µsN
 EXAMPLE 1

A jet is flying at 140 m/s along a straight line and makes a

turn along a circular path level with the ground. What does
the radius of the circle have to be to produce a centripetal
acceleration of 10𝑚/𝑠 2 on the pilot and jet toward the center
of the circular trajectory?
EXAMPLE 1 CONT.

Strategy
Given the speed of the jet, we can solve for the radius
of the circle in the expression for the centripetal
acceleration

2 2 2
v v (140m / s )
ac  r   1960m
r ac 10
TASK1

Passengers on a bus ride move at constant speed

makes a turn on a roundabout of radius 5.0 m,
making a complete circle in 4.0 s. What is their
acceleration?
 TASK 2 (LEVEL CURVES)

 A 1500 kg car moving on a flat, horizontal road negotiates a

curve as shown. If the radius of the curve is 35.0 m and the
coefficient of static friction between the tires and dry
pavement is 0.523, find the maximum speed the car can have
and still make the turn successfully.
 APPARENT WEIGHT AND APPARENT WEIGHTLESSNESS

 When a passenger with mass m rides in an elevator with y-acceleration ay , a scale shows
the passenger’s apparent weight to be;
𝑁 = 𝑚(𝑔 + 𝑎𝑦 )
 When the elevator is accelerating upward, 𝑎𝑦 is positive and n is greater than the
passenger’s weight 𝑤 = 𝑚𝑔
 When the elevator is accelerating downward, 𝑎𝑦 is negative and N is less than the weight.
 The extreme case occurs when the elevator has a downward acceleration 𝑎𝑦 =
−𝑔, that is, when it is in free fall. In that case 𝑁 = 0 and the passenger seems to be
weightless.
 Similarly, an astronaut orbiting the earth with a spacecraft experiences apparent
weightlessness
 TASK1

 A man weighs himself with a scale in an elevator. While the elevator is at rest, he
measures a weight of 800 N.
 What weight does the scale read if the elevator accelerates upward at 2.0 m/s2?
 What weight does the scale read if the elevator accelerates downward at 2.0 m/s2?
 SATELLITES IN CIRCULAR ORBITS

 According to the law of gravitation,

gravity maintains all planets, rockets
and satellites in circular - near
circular motion around the planet
and sun.
 For a circular orbit, the speed of a
satellite is just right to keep its
distance from the center of the earth
constant.
 Astronauts inside the satellite in
orbit are in a state of apparent
weightlessness
 SATELLITES IN CIRCULAR ORBITS CONT.

 For satellite in circular motion about

the earth
𝑴𝑬 𝒎 𝒎𝑽𝟐
𝑮 𝟐 =
𝒓 𝒓
𝑴𝑬 𝒗𝟐
𝒈=𝑮 𝟐 = = 𝒂𝒄
𝒓 𝒓
End of Lecture-7