9

.
:
-
-
-
- I

.

,
(z). (
)


(t) x.
(t)
.

s r:

s
r

t2

t1

t1
1 x.
t2 2 x.

t = t2-t1 = 21

Angular Velocity

time

-t1 :
We define
as average
angular velocity
for the
interval t
t1 , t=2 t2the
ratio:

avg

2 1
t2 t1

The
SI unit for
velocity
is radians/second

angular
SI
(radians)/s

We
define as
the instantaneous
ular velocity
as tt

0 0
H
ang

the
limit
of

d
lim
This
is
the
definition
of
the
first
deriva
tive
with
t

t
t 0 t
dt
Algerbraic
sign
of
angular
frequen
cy:
If a rigid
body rotates counterclockwise
-

(CC
W)
hasa
positive
sign.
If on
the other
the.
rotation
is clockwise
(CW)
-

hand

has a negative
sign

t2

2
1

t1

In the
figure
we show
the reference
line
at a time t
1 and at a later time t 2 .

The angular
velocity
of the,
rotatingt1body
to t
at t and 2 at t2 .

is=equal
1
2 1 1
We
= define

:interval t1 , t2 the ratio:

as average
angular
acceleration
for the
time
2.

avg

2 1
t2 t1

2

angular
SI radians/s
The
SI unit for
velocity
is radians/second 2

We
define
as
the
instantaneous
angular
acceleration
the
limit
of
as
t
0
H
t
0
t

d
lim
This is the
definition
of the first derivative
with t

t
t 0 t
dt
-
- /
,


z
t = 0 0z
t z.
z t = t 0 = t,
:
(1)
,
, t=0 t :
(2)
:
(3)

 (1) (2)

(4)

(1) (4)

(a)

(c)

(d)

(a)

(b)

()
()

vi
mi
O

ri

m1, m2, m3.m ..

1
1
1
1
m1v12 m2 v22 ... mi vi2 mi vi2
2
2
2
i 2

1
1
1
1 2
2
2
2
K mi (i ri ) ( mi ri )
2 i 2
2
i 2

.


: H ,



,




.


: = f Ki = K 0 = W

.
.

()

()

()



.


:

 10

 11