Chapter --- Rotational of Rigid Body

ROTATIONAL
KINEMATICS
(a) Define:
(i) angular displacement ()
(ii) average angular velocity (av)
(iii) instantaneous angular velocity ()
(iv) average angular acceleration (av)
(v) instantaneous angular acceleration ()
(b) Convert units between degrees, radian, and
revolution or rotation
Chapter --- Rotational of Rigid Body

(c) Relate and use parameters in rotational motion

with their corresponding quantities in linear
motion
2
s  rθ; v  ; at  r; ac  r 
2 v
r r
(d) Use equations for rotational motion with
constant angular acceleration;
ω  ω0  αt
1 2
θ  ω0t  t
2
ω2  ω 02  2αθ
 REVISION!!!!!

s f T 1
rθ
s 2 r
v   r   2rf
tT
 2
   2 f
 PARAMETERS IN ROTATIONAL MOTION
Physical Definition Equation Unit
Quantity
Angular velocity θ  θ1 θ
Average angular The rate of change of ω  2 
av
t 2  t1 t rads-1
velocity, av angular displacement
Instantaneous The instantaneous rate of θ dθ
angular change of angular   limit  rads-1
velocity,  displacement.
t 0 t
dt
Angular Acceleration
ω2  ω1 ω
Average angular   
acceleration, av The rate of change of av
t t rads-2
angular velocity t
2 1
Instantaneous The instantaneous rate of
ω dω
angular change of angular velocity α  limit 
acceleration,  t 0 t rads-2
dt

4
 ANALOGY OF LINEAR MOTION
WITH ROTATIONAL MOTION
PARAMETERS.
Quantities Equations

Rotational Linear Rotational

Linear Relationship
Motion Motion
Motion
Motion
1
Displacement s  r Angular 1
s  v  u t θ  ω  ω t
2
s Displacement

2
1
s  ut  at 2 0
1
2 θ  ω0 t  αt 2
2
Velocity Angular
v v  rω v  u  at ω  ω0  αt
velocity, 
vu ω  ω0
Acceleration, at  r Angular a α
a acceleration,  t t

5
 • Figure 8.12 shows a point P on a
rotating compact disc (CD)
• an angle through which a moves through an arc length s on
point or line has been rotated a circular path of radius r about
in a specified direction a fixed axis through point O
about a specified axis
s
θ OR s  rθ

r
θ : angular
displacement
s : arc length
r : radius of the circle
Figure 8.12
• Others unit for angular
1 revolution = 360o = 2 rad displacement is degree () and
revolution (rev)
Angular velocity • It is a vector quantity – Every part of
• Unit: rad s-1/ rev min-1/ rpm a rotating
rigid body has
the same
2 
Average angular 1 rpm  rad s1  rad s1 angular
velocity, av 60 30 velocity
the rate of change • Its direction
of angular can be
displacement ωav  θ 2  θ1  θ determine
t 2  t1 t by using
right hand
θ 2 : final angular displacement grip rule
θ1 : initial angular displacement (rad)
(rad)
Instantaneous
angular velocity,  t : time interval
the instantaneous
rate of change of
angular θ dθ
displacement   limit
t t  dt
0
The angular displacement, of the wheel is given by
 = 5t2 – t
where  in radians and t in seconds. The diameter of the wheel is
0.56 m. Determine
(a) the angle,  in degree, at time 2.2 s and 4.8 s,
(b) the distance that a particle on the rim moves during that
time interval,
(c) the average angular velocity, in rad s1 and in rev min1 (rpm),
between 2.2 s and 4.8 s,
(d) the instantaneous angular velocity at time 3.0 s.

https://sites.google.com/site/physicsflash/home/rolling
(a) Substitute t1 = 2.2 s & t2 = 4.8 s in  = 5t2 – t. Convert rad
to degree

(b) From s = r, we can get s = r

θ
(c) Use equation for average angular velocity ωav 
t

(d) Solve for ω  dθ.

dt
Substitute t = 3.0 s in 
Chapter --- Rotational of Rigid Body

A diver makes 2.5 u0

revolutions on the way down θ0  0
from a 10 m high platform
to the water. Assuming zero
initial vertical velocity, 10 m s  10
calculate the diver’s average m
angular (rotational) velocity θ1  2.5 rev
during a dive. water
 θ1  2.5  2π  5π
rad
From the diagram, Therefore the diver’s average
s  10 angular velocity is
m
Thus 1 ωav  θ1  θ0
s  ut gt 2

  0  12
10 2 t
5π  0

9.81t 2
t  1.43 1.43
s ωav  11.0 rad
s 1
 Angular • It is a vector quantity
• Unit: rad s2
acceleration • Note, if:
-  is positive   is increasing
-  is negative   is decreasing
Average angular
acceleration, av:
the rate of change  av  ω2  ω1 ω
 t
of angular t2  t1
velocity
ω2 : final angular
ω1 : initial angular velocity
velocity
Instantaneous t : time interval
angular
acceleration,
: ω dω
the instantaneous α  limit
t t  dt
0
rate of change
of angular
velocity
• If the rotation is • If the rotation is
speeding up,  and  slowing down,  and
in the same direction  have the opposite
direction

 α 
 
α


 a. At time, t1 =2.2 s :
ω1  82.2  2.2
3 2

The instantaneous angular  1  80.3 rad

ω
velocity,  of the flywheel is At time,s 1t2 =4.8 s :
given by ω  8t3  2 ω2  84.8 
3 2

where  in tradian per second

and t in seconds. 4.8
ω 2   862 rad
Determine Therefore
s1 the average angular
acceleration is
(a) the average angular
acceleration between 2.2 αav  ω2  ω1
s and 4.8 s, t2  1
(b) the instantaneous angular t
acceleration at time, 3.0 862 
 4.8  2.2
s.
80.3
αav  301 rad s
2
b. The instantaneous angular At time, t =3.0 s
acceleration as a function
of time is
α  243.0 2  23.0 
dω α  210 rad s2
α  dt


dt
d
8t 3
t
α 24t 
2 2

2t
1. If a disc 30 cm in diameter rolls 65 m along a straight line without
slipping, calculate
(a) the number of revolutions would it makes in the process,
(b) the angular displacement would be through by a speck of gum on
its rim.
69 rev; 138 rad
2.During a certain period of time, the angular displacement of a
swinging door is described by θ  5.00  10.0t  2.00t 2
where  is in radians and t is in seconds. Determine the angular
displacement, angular speed and angular acceleration
(a)at time, t =0, (b)at
time, t =3.00 s.
5.00 rad, 10.0 rad s1, 4.00 rad s2; 53.0 rad, 22.0 rad s1, 4.00 rad
s2
 • When a rigid body is rotates • Point P moves in a circle of radius r
about rotation axis O, every with the tangential velocity v
particle in the body moves in a where its magnitude is given by
circle as shown
ds and s  rθ
v  dt
v  r
d
v  r dt
• Every particle on the rigid body has
the same angular speed
(magnitude of angular velocity) but
the tangential speed is not the
same because the radius of the
• The direction of the linear circle, r is changing depend on the
(tangential) velocity always position of the particle.
tangent to the circular path
Simulation 8.1
8.2: ROTATIONAL KINEMATICS
• Point P on the rigid body
dv
experiences 2 types of a t  dt and v  rω
acceleration:
y d at  r
a  r dt
t

at
but v2 2
 ac   r 
a a r
c
• resultant (linear) acceleration,
P v 
a given by
x
O
 
a a  t
• The components are tangential
acceleration, at and centripetal  c
a t2  a c
and its magnitude,
acceleration, ac a a 2


A helicopter blade has an
angular velocity of ω = 6.50
rev s-1 and an angular
acceleration of α = 1.30 rev s-2.
For points 1 and 2 on the
blade in figure above, find the
magnitudes of (a) the
tangential velocities and (b)
the tangential accelerations.
 6.5(2 ) rad
 1  40.8 rad s1
s
1.30(2 ) rad
   8.17 rad s  2
1s 2
For a point 1 : 122 m s  1
v  r  3(40.8)
 24.5 m s 2

at  r  3(8.17)  273 m s  1
For a point 2 : v  r  6.70(40.8) 
54.7 m s  2
at  r  6.70(8.17) 
 Linear motion Rotational motion
  s a  constant α  constant
 u
o v  u  at ω  ω0  αt
1 2 1
 v s  ut  at θ  ω t  αt 2
0
  a 2
2
s  r v  u  2as
2 2 ω2  ω2  2αθ
0

v  r s
1
v  ut θ
1
ω  ω
2
a  r t
where 2 in radian
0
 s
s  rθ    r
ω  ω0 
 d αt
ave  t ,inst
dt 1 2
θ  ω0t  αt
v 2
r ω2  ω02 
 d 
 ave  t , ins  dt 2αθ
1
at  r θ  ω  ω0
2
t
A wheel rotates with a A particle travels in a
constant angular horizontal circle of radius
acceleration of 2.5 rad s–2. 50 cm with angular velocity
At time t = 0 , the angular 120 rpm. Its angular
velocity of the wheel is 3.0 velocity increases at a
rad s–1. Determine: constant rate to 180 rpm in
(a) the angle turned 10 s. At the 10th second
through by the wheel in determine:
the first 2 seconds. (a) the angular acceleration
(b) angular velocity at t = 2 (b) the tangential linear
s. acceleration.
11 rad, 8 rad s- 0.628 rad s-2, 0.314
1 m s-1
Chapter --- Rotational of Rigid Body

A car is travelling with a u = 17.0 m s-1, r = 0.48 m, a =

velocity of 17.0 m s1 on a 2.00 m s-2, t = 5.00 s
straight horizontal highway. The a. The initial angular velocity
wheel of the car has a radius of is u  rω0
48.0 cm. If the car then speeds 17.0  0.48ω0
up with an acceleration of 2.00 ω0  35.4 rad
m s2 for 5.00 s, calculate s1
(a) the number of revolutions of
and the angular acceleration
the wheels during this of the wheels is given by
period,
a  rα
(b) the angular speed of the
2.00  0.48α
wheels after 5.00 s.
α  4.17 rad s2
a. By applying the equation b. The angular speed of
of rotational motion with the wheels after 5.00 s
constant is
angular
acceleration, thus ω  ω0  αt
1 2  35.4 
θ  ω0t  αt
2 4.175.00
 35.45.00
1
2 ω  56.3 rad s1
4.17 5.00
θ  229 rad 2

θ  229 rad  

1 rev
  36.5

2π rad
rev
The wheels of a bicycle make 30 revolutions as the bicycle
reduces its speed uniformly from 50.0 km h-1 to 35.0 km h-1. The
wheels have a diameter of 70 cm.
(a) Calculate the angular acceleration.
(b) If the bicycle continues to decelerate at this rate,
determine the time taken for the bicycle to stop.

0.70
θ  30  2π  60π rad, r  2  0.35
m,   1 
u 50.0 km  10 3
m   h   13.9 m
1 h  1 km  3600 s s1 ,
35.0 km  10 m  1  1
v 
3
    9.72 m s 1
h h 1 km  3600 s 

a. The initial angular speed of the wheels is
u  rω0
13.9  0
ω0  39.7 rad
and the final angular speed of the1wheels is
0.35ω s
v  rω 1
therefore 9.72  ω  27.8 rad
 ω02  2αθ
ω2 0.35ω s
27.82  39.7 2 
2α 60π 
b. The car stops thus
α  ω rad sand
2.13 2 ω 0  27.8 rad
Hence ω  ω00  αt 1 s
0  27.8 
2.13t
t  13.1s
 Chapter --- Rotational of Rigid Body

A blade of a ceiling fan has a radius of 0.400 m is rotating about

a fixed axis with an initial angular velocity of 0.150 rev s-1. The
angular acceleration of the blade is 0.750 rev s-2. Determine
(a) the angular velocity after 4.00 s,
(b) the number of revolutions for the blade turns in this
time interval,
(c) the tangential speed of a point on the tip of the blade at
time,
t =4.00 s,
(d) the magnitude of the resultant acceleration of a point on
the tip of the blade at t =4.00 s.

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body
r  0.400 m, ω0  0.150  2π  0.300π rad
s 1 ,
α  s,0.750
a. Given t = 4.00 thus  2π  1.50π rad s2
ω  ω0  αt ω  0.300π
1.50π4.00
ω of19.8
b. The number of revolutions rad sis
the blade
1

1 2
θ  ω0 t  αt
2 1
 0.3004.00 1.504.00
2 2
θ  41.5 rad 
θ  41.5 rad 
 1 rev 
 6.61
rev  2π rad 
8.2: ROTATIONAL KINEMATICS
 Chapter --- Rotational of Rigid Body
c. The tangential speed of d. The magnitude of the
a point is given by resultant acceleration is
v
rω a a 2 a 2
c

v 0.400
7.92 s1 
m19.8 t

  v  
2 2

 r rα 2
 7.92 2 
2

    0.400
 0.400  1.50π 2
a  157 m
s2

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

A coin with a diameter of 2.40 cm is dropped on edge on a

horizontal surface. The coin starts out with an initial angular
speed of 18 rad s1 and rolls in a straight line without slipping. If
the rotation slows down with an angular acceleration of
magnitude 1.90 rad s2, calculate the distance travelled by the
coin before coming to rest.
ω0  18 rad s1 ω  0 rad s1

d  2.40 10 m 2 α  1.90 rad s2

The radius of s
the coin is d
r  1.20 10 2
m 2
8.2: ROTATIONAL KINEMATICS
 Chapter --- Rotational of Rigid Body
The initial speed of the point at the edge the coin
is u  rω0

u  1.20 102

and the final speed is

18
u  0.216 m s 1
The linear acceleration of the point at the edge the coin is
by
given a  v  0 m s1
a  1.20 102
rα
a  2.28 102 m s2
1.90by the coin is
Therefore the distance travelled
v 2  u 2  2as

0  0.216 2  2  2.28 10 2
s
8.2: ROTATIONAL KINEMATICS
 Chapter --- Rotational of Rigid Body

Calculate the angular velocity of

a. the second-hand, ω  0.11 rad s1
b. the minute-hand and ω  1.74 103 rad
1
c. the hour-hand, s
of a clock. State in rad s .
-1 ω  1.45 10 4
rad
1
s
d. What is the angular acceleration in each case?

Use
2π
ω
T

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body

1. A disk 8.00 cm in radius rotates at a constant rate of 1200 rev min-1

about its central axis. Determine
(a) its angular speed,
(b) the tangential speed at a point 3.00 cm from its centre,
(c) the radial (centripetal) acceleration of a point on the rim,
(d) the total distance a point on the rim moves in 2.00 s.
126 rad s1; 3.77 m s1; 1.26  103 m s2; 20.1 m

2. A 0.35 m diameter grinding wheel rotates at 2500 rpm. Calculate

(a) its angular velocity in rad s1,
(b) the linear speed and the radial/ centripetal acceleration of a point
on the edge of the grinding wheel.
262 rad s1; 46 m s1, 1.2  104 m s2

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body
3. A rotating wheel required 3.00 s to rotate through 37.0 revolutions.
Its angular speed at the end of the 3.00 s interval is 98.0 rad s-1.
Calculate the constant angular acceleration of the wheel.
13.6 rad s2

4. A wheel rotates with a constant angular acceleration of 3.50 rad

s2.
(a) If the angular speed of the wheel is 2.00 rad s1 at t =0, through
what angular displacement does the wheel rotate in 2.00 s.
(b) Through how many revolutions has the wheel turned during
this
time interval?
(c) What is the angular speed of the wheel at t = 2.00 s?
11.0 rad; 1.75 rev; 9.00 rad
s1

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body
5. A bicycle wheel is being tested at a repair shop. The angular
velocity of the wheel is 4.00 rad s-1 at time t = 0 , and its
angular acceleration is constant and equal 1.20 rad s-2. A
spoke OP on the wheel coincides with the +x-axis at time t
0 as shown in Figure 8.13.
=
y
(a) What is the wheel’s angular
velocity at t = 3.00 s?
(b) What angle in degree does P x
O
the spoke OP make
with Figure 8.13

the positive x-axis at this 0.40 rad s1; 18

time?

8.2: ROTATIONAL KINEMATICS

 Chapter --- Rotational of Rigid Body
• A particle of mass, m1 of distance r1 from the rotation axis O
will experience a nett force F1 . The nett force on this particle
is F1  m1a1 and a1  r1α
F1  m1r1α
• The torque on the mass 1
 1  r1 F1 sin
is


m 90  m r
• The total (nett) torque on the rigid2
body is given
by
 m rn  m r  ... n m r 
1 21 2 22 n 2n

m 2
I
2
and
  
i
i1 m i ri  i1
ri
   I 
8.3: ROTATIONAL DYNAMICS