Angular Motion

Uniform Circular Motion

 Circular Motion
• In Nat 5 and Higher Physics we studied linear motion. We extend this work at AH to
cover circular motion where objects move along circular paths rather than straight
line paths.

• Circular or rotational motion is common everywhere from electrons orbiting the

nucleus, to wheels turning, to planets orbiting the sun.

• When dealing with these circular or rotational motions we need to work in radian.
 Radians
• In order to convert between radians and degrees we
must use the following formula - you should know
this from maths!
• The radian is the angle produced in a circle where
the arc length is equal to the radius.

• This is rearranged to give: 𝑠=𝜃 𝑟

where; s = displacement (m)
r = radius (m)
θ = angular displacement (radian)
• So there are 2π radians in a circle because the circumference is equal to 2πr.
 Example 1
A bicycle wheel has a radius of 0.40 m
a) Calculate the distance travelled by a point on the rim of the wheel if it turns through:
i) 5 revolutions
ii) 22.5 revolutions
b) Calculate the angular displacement of the wheel if a point on the rim of the wheel
travels a distance of 100 m.
 Example 1 Solution
a) i) 1 revolution = 2π a) ii) 1 revolution = 2π
5 revolutions = 5 x 2π = 10π 22.5 revolutions = 22.5 x 2π = 45π

s=rθ s=rθ
s = 0.4 x 10π s = 0.4 x 45π
s = 12.6 m s = 56.5 m

b) s=rθ
100 = 0.4 x θ
θ = 250 radians
 Angular velocity (ω)
• Commonly angular velocity is measured in revolutions per minute (rpm), this is
used for the speed of a car engine, record players etc.

• However is physics we have to use radians per second (rads-1).

• In order to convert between radians and degrees we must use the following
formula:

2𝜋
𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠 𝑝𝑒𝑟 𝑚𝑖𝑛𝑢𝑡𝑒 × =𝑟𝑎𝑑𝑖𝑎𝑛𝑠 𝑝𝑒𝑟 𝑠𝑒𝑐𝑜𝑛𝑑
60
Example 2
Convert the following from rpm to rads-1.
a) 45 rpm
b) 3000 rpm

a) b)

= 4.71 rads-1 = 314 rads-1

 Angular velocity (ω)
• Angular velocity is defined as the rate of change of angular displacement or as a
measure of the angle swept per second.

• The equation for constant angular velocity is:

• The equation for instantaneous angular velocity is:

A
where; ω = angular velocity (rads-1)
θ = angular displacement (radian)
t = time (s) O θ

B
Example 3
A wind generator makes 6 complete revolutions in a time of 10 seconds.
Calculate the angular velocity of the wind generator.

1 revolution = 2π
6 revolutions = 6 x 2π = 12π
 Alternative Solution
• ω can also be calculated using the frequency of rotation or by differentiation.

• The time for one complete revolution is called the period:

• The frequency is the number of rotations per second:

• By substituting we then get: ω=2 𝜋 𝑓

• Differentiation can be used to calculate ω if an expression for θ as a function of

time is given:
Example 4
A rotor is spinning at 3000 rpm. Calculate:
a) The angular velocity
b) The period of rotation
 Example 4 Solution
a) 1 revolution = 2π b) 1 revolution = 2π
3000 revolutions = 3000 x 2π = 6000π
Angular velocity (ω) and Tangential Speed ()
• Objects moving in a circle have angular velocity and a linear speed in the
direction of the tangent. This linear speed or tangential speed, is related to the
angular speed, ω.
• Consider one complete orbit in a circle of radius, r. The period of rotation is T.
• To derive:

but, circumference = 2πr ω

r
𝑣
but, A

So, 𝑣 =𝜔 𝑟
Example 5
A ceiling fan rotates at 150 rpm. Each blade of the fan is 45 cm long. Calculate:
a) The angular velocity of the fan
b) The speed of the tip of each blade
c) The speed of a point halfway along the blade
 Example 5 Solution
a) 1 revolution = 2π b)
150 revolutions = 150 x 2π = 300π

c)
Example 6
The Earth has a radius of 6.4x106 m and rotates on its own axis once every 24
hours. Calculate:
a) The angular velocity of the Earth in rads-1
b) The tangential speed of a person standing at the equator
 Example 6 Solution
a) 1 revolution = 2π b)
Angular Acceleration
 Angular acceleration ()
• When the angular velocity of a rotating object changes, it is said to have an angular
acceleration.
• Angular acceleration has the symbol and the units rads-2.
• Angular accelerations can be described mathematically by the following:

• where angular acceleration is the rate of change of angular velocity

• since then is the second derivative of θ(t).

• These two formulae will give the instantaneous angular acceleration at time t.
Example 7
The angular displacement of a particle performing circular motion is given by:

Calculate the angular velocity and the angular acceleration of the particle after 5
seconds.
Example 7 Solution

(constant acceleration as it is independent of t)

At t = 5 s, = (8 x 5) + 3
 Constant angular acceleration ()
• If the angular acceleration is constant, then the following expression can be used to
calculate

• where; ω = final angular velocity (rads-1)

ω0 = initial angular velocity (rads-1)
= angular acceleration (rads-2)
t = time (s)
Example 8
During take-off, the main rotor blades of a helicopter increase their rate of rotation
uniformly from rest to 450 rpm in 8 seconds. Calculate the angular acceleration of
the rotor blades.
Example 8 Solution
1 revolution = 2π
450 revolutions = 450 x 2π = 900π
 Tangential acceleration ()
• Tangential acceleration is the linear acceleration with units ms-2 which is different
from angular acceleration with units rads-2.

• Tangential acceleration can be thought as of an instantaneous linear acceleration at

a point on the circle.

• The tangential acceleration can be found using the angular acceleration: 𝑎 𝑡 =r α

• For example, if a helicopter’s blades increase their rate of rotation uniformly, they
will have an angular acceleration but the tip of the blade will have an increasing
linear speed as the angular speed increases so therefore will have a
linear/tangential velocity.
 The Equations of Motion
• Similar to Higher Physics calculations can be carried out using equations of motion
for rotational motion.

Linear Equations of Motion Angular Equations of Motion

Example 9
A bicycle wheel rotating at 4.2 revolutions per second comes to rest uniformly in a
time of 125 seconds. Calculate:
a) The angular acceleration of the wheel during this time
b) How many revolutions does the wheel makes as it decelerates?
Example 9 Solution
a) 1 revolution = 2π
4.2 revolutions = 4.2 x 2π = 8.4π
Example 9 Solution
b) 1 revolution = 2π

? revolutions =

= 263 revolutions
Centripetal Acceleration
 Radial acceleration
• How can an object traveling in a circle have a
steady speed and be accelerating at the same
time?

• Well we’ve already met this when we studied

satellite motion.

• A satellite has a constant tangential speed, but it

is continuously accelerating towards the Earth.

• This acceleration is towards the centre of the

circle (along the radius) and is called the radial
acceleration.
 Centripetal (radial) acceleration
• When an object moves in a circle or radius, r, at a steady speed, v, its direction is
continually changing.

• Velocity is a vector requiring both magnitude and direction, so the velocity of the
object will be changing even if the speed is constant.

• Therefore the object must be accelerating as its velocity is changing, This

acceleration, a, is towards the centre of the circle.

• This acceleration towards the centre of rotation is called the centripetal

acceleration or radial acceleration, ar .
Derivation of centripetal acceleration
• Consider a particle moving in a circle with a constant
tangential speed.

• The instantaneous velocity is show at 2 points, A and B. The

initial speed is given by ‘u’ and final speed is given by ‘v’.

• As velocity is a vector, the change in velocity, Δv, is found

using a vector addition diagram:

Split into right angle

triangle to make the
maths easier
Derivation of centripetal acceleration
• This gives:

• So: Δ 𝑣=2 𝑣𝑠𝑖𝑛 𝜃

𝑎𝑟𝑐 𝑙𝑒𝑛𝑔𝑡h 𝐴𝐵 𝑠 2 𝑟 𝜃
• The time to travel from A to B: 𝑡= = =
𝑣 𝑣 𝑣
2
𝑣 −𝑢 2 𝑣𝑠𝑖𝑛 𝜃 𝑣 𝑠𝑖𝑛𝜃
• Substitute into acceleration equation: 𝑎= = = ×
𝑡 2𝑟 𝜃 𝑟 𝜃
𝑣
2
𝑣
• Therefore: 𝑎 𝑟 =
𝑟 Note: Sinθ = θ for small values of θ.
 Derivation of centripetal acceleration
• But: 𝑣 =𝜔 𝑟
2 2 2
So: 𝑣 𝜔 𝑟
• 𝑎𝑟 = =
𝑟 𝑟
2
• Therefore: 𝑎 𝑟 =𝑟 𝜔

• The radial acceleration, ar , is always directed towards the centre of the circle, and it
must not be confused with the tangential acceleration, at ,which occurs when an
object changes its tangential speed. The radial or centripetal acceleration occurs
anytime an object is moving in a circular path even if its tangential speed is constant.
Example 10
A radio controlled model aircraft moves in a circle of radius 7.5 m. Calculate the
centripetal acceleration when:
a) It travels at a steady speed of 8.2 ms-1
b) The aircraft takes 4.5 s to make 1 complete circuit
Example 10 Solution
a) b) 1 revolution = 2π
 Summary of accelerations
• We have now met 3 separate accelerations associated with circular motion, and it is
important to understand their differences.

• Angular acceleration: unit is rads-2 increasing/decreasing ω (and v)

• Tangential acceleration: 𝑎 𝑡 =r α unit is ms-2 increasing/decreasing v (and ω)

2
Centripetal acceleration: 𝑎 𝑟 =
𝑣 2
• =𝑟 𝜔 unit is ms-2 ω and v constant (for
𝑟 constant a)
Centripetal Force
 watch
Centripetal Force
• Objects moving in a circular path will accelerate towards the centre of the circle.

• Newton’s 2nd Law states there must be an unbalanced force causing this acceleration.
This force is called the centripetal force or central force.

• Since: 𝐹 𝑢=𝑚𝑎
2
And centripetal acceleration: 𝑎 𝑟 =
𝑣 2
• =𝑟 𝜔
𝑟

2
𝑚𝑣 2
• Then centripetal force: 𝐹= =𝑚𝑟 𝜔
𝑟
 Info Only!
Centripetal vs Centrifugal Force
• Centripetal force is the force required to keep an object moving in a circle.

• Centrifugal force is a fictional force. It is not real. It is “what you feel” if you are
moving in a circle. You feel as if you are being thrown out of the circle when in
fact all your body is doing is trying to continue at a steady speed in a straight
line (Newton’s 1st Law).

• What you feel is your reaction to the centripetal force keeping you moving in a
circle.

• You being “thrown out” of a circular path is only you obeying Newton’s 1st Law!
Example 11
A car with 4 passengers has a total mass of 1250 kg. It is driven round a
roundabout at 8.94ms-1. The roundabout has a radius of 12 m.
a) Calculate the centripetal force required to keep the car moving in a circle
around the roundabout.
b) A passenger in the passenger seat has a mass of 60 kg. Calculate the force
required to keep them moving in the same circular path.
c) Explain why you feel thrown out to the side when a car goes round a
roundabout.
d) The maximum friction provided by the tyres is 18500 N . Calculate the
maximum speed the car could go round the roundabout without skidding.
Example 11 Solution
a) b) d)

c) You feel as if you are being thrown out of the circle

when in fact all your body is doing is trying to
continue at a steady speed in a straight line (Newton’s 1st
Law).
Centripetal Force with Tension
Scenario 1 – Motion in a horizontal circle

• If we have a mass rotating horizontally on the end of the string then the tension
in the string provides the centripetal force on the mass:
2
Tension = Central Force 𝑇 =𝑚𝑟 𝜔 𝑜𝑟 𝑇 =
𝑚𝑣
2
𝑟

• A centripetal force is required to maintain the circular motion. If the string

breaks, the centripetal force will be removed and the mass will then move in a
straight line, at a tangent to the circle (Newton’s 1st Law).
Centripetal Force with Tension
Scenario 2 – Motion in a vertical circle

• Consider a mass being swung in a vertical circle, ie. a bucket of water attached
to a rope.
• The weight always acts down and central force always acts towards the centre
of the circle.
• At the top tension is reduced as weight provides some of the central force.
Tension is the weakest at the top
2
T mg 𝑚𝑣
2
𝑇 +𝑚𝑔=𝑚𝑟 𝜔 𝑜𝑟 𝑇 +𝑚𝑔=
𝑟
2 𝑚 𝑣2
𝑇 =𝑚𝑟 𝜔 −𝑚𝑔 𝑜𝑟 𝑇 = −𝑚𝑔
𝑟
Centripetal Force with Tension
Scenario 2 – Motion in a vertical circle cont.d
• At the bottom weight is added to the central force. This increases the tension.
Tension is the greatest at the bottom and the string is more
likely to snap. 2
𝑚𝑣
𝑇 − 𝑚𝑔=𝑚𝑟 𝜔 2 𝑜𝑟 𝑇 − 𝑚𝑔=
T 𝑟
2
2 𝑚 𝑣
𝑇 =𝑚𝑟 𝜔 +𝑚𝑔 𝑜𝑟 𝑇 = + 𝑚𝑔
mg 𝑟
• To keep the bucket moving in a vertical circle, the central force must be greater
than or equal to the weight.
• Therefore there is a minimum velocity to keep it moving in a vertical circle. If the
velocity is less than this minimum, weight will be greater than the central force
and the mass no longer moves in a circle.
Example 12
1 kg of water in a bucket is rotated in a vertical circle of radius
1.5 m at a speed of 2π rads-1. Calculate: T
a) The reaction of the bucket on the water at:
i) the highest position mg
ii) the lowest position
b) Find the angular velocity at which the water just falls out at
the highest point.

centre
 Example 12 Solution
a) i) a) ii)

b) At point water just falls out then T = 0

Conical Pendulum
• A conical pendulum consists of a mass, m, on the end of a string. The mass travels
in a horizontal circle as shown.
• The centripetal force is provided by the horizontal component of the tension, T, in
the string.

θ T θ
Tcosθ Tcosθ = mg T

r Redrawing this as a
Tsinθ
vector diagram gives us: Tsinθ = mrω2

mg
 Conical Pendulum
We now have 2 equations:
θ
Tcosθ = mg T 2
𝑇𝑐𝑜𝑠 𝜃=𝑚𝑔 𝑎𝑛𝑑 𝑇𝑠𝑖𝑛 𝜃=𝑚𝑟 𝜔

We divide these by each other:

Tsinθ = mrω2
𝑇𝑠𝑖𝑛𝜃 𝑚𝑟 𝜔 2
=
𝑇𝑐𝑜𝑠 𝜃 𝑚𝑔
This cancels to give:
2
𝑟𝜔
𝑡𝑎𝑛 𝜃=
𝑔
Example 13
Calculate the angular velocity of a conical pendulum so that the plane of rotation
lies 20 cm below the pivot point.

Tension force
Reaction force
to weight = mg
θ
Centripetal force
Example 13 Solution
2
Tsinθ = mrω 2
𝑇𝑐𝑜𝑠 𝜃=𝑚𝑔 𝑎𝑛𝑑 𝑇𝑠𝑖𝑛 𝜃=𝑚𝑟 𝜔
2
𝑇𝑠𝑖𝑛𝜃 𝑚𝑟 𝜔
=
Tcosθ = mg 𝑇𝑐𝑜𝑠 𝜃 𝑚𝑔
2
T 𝑟𝜔 However we can redraw
𝑡𝑎𝑛 𝜃= triangle one more time to find
θ 𝑔
another value to replace tan
2
𝑟 𝑟𝜔
r =
0.2 𝑔
2 9.8
0.2 m 𝜔 =
0.2
T
−1
θ 𝜔=7 𝑟𝑎𝑑𝑠
Washing Machine
• Wet clothes move in a circle due to an inward force provided by the drum on the
clothes.
• Water over the holes in the drum is not in contact with the drum, does not
experience the central force from the drum and moves tangentially in a straight
line.
• It is a common misconception that the water will fly out radially due to some
‘outward force’ – this is not correct.
Banking (Aircraft turning)
• An aircraft in level flight has its weight balanced by the lift force, L.

• When banking at an angle, θ, the horizontal component of L provides the

centripetal force.
Lcosθ
L
L

θ
Lsinθ θ

both θ are
mg mg the same
Banking (Aircraft turning)
• Since the horizontal component of L provides the centripetal force:
L

2
𝑚𝑣
• We divide these by each other: 𝐿 𝑠𝑖𝑛 𝜃 𝑟
=
𝐿𝑐𝑜𝑠 𝜃 𝑚𝑔
2
• This cancels to give: 𝑡𝑎𝑛 𝜃= 𝑣
𝑟𝑔

• Note that mg > Lcosθ (vertical forces), since mg = L (balanced forces), so the
aircraft will lose height when banking unless the lift, L, is increased by increasing
speed.
Banking
• A banked track produces a component of
the reaction force of the car on the road to
provide the central force to assist the car to
move in a circular path with a greater
speed than a flat track.
• Central force provided = R sin θ where R is
the reaction force and θ is the angle of the
banking of the track
Maximum Banking Speed
• If we consider the horizontal and vertical
components of the reaction force of the car
on a banked track then we can derive an
equation for the maximum speed of a vehicle
(assuming no friction):

2
• Horizontal: 𝑅𝑠𝑖𝑛 𝜃= 𝑚 𝑣
𝑟

• Vertical: R
Maximum Banking Speed
• Combining these two equations gives:
2
𝑚𝑣
𝑅 𝑠𝑖𝑛 𝜃 𝑟
=
𝑅 𝑐𝑜𝑠 𝜃 𝑚𝑔
2
𝑣
• This cancels to give: 𝑡𝑎𝑛 𝜃=
𝑟𝑔

• Therefore: 𝑣=√ 𝑟 𝑔𝑡𝑎𝑛𝜃

Example 14
A circular frictionless racetrack has a radius of 50 m. Determine the maximum
speed a vehicle travel at without drifting off the track when the bank angle is:
a) 5˚
b) 10˚
c) 45˚
 Example 14 Solution
a) b)

c)