KINEMATICS OF  Each translational quantity has a rotational analog:

ROTATIONAL MOTION displacement (m) -->angular displacement (rad)

velocity (m/s) -->angular velocity (rad/s)
INTENDED LEARNING OUTCOMES (ILO) acceleration (m/s2)-->angular acceleration (rad/s2)
 Describe motion of objects as they rotate.
 Compare Translational Motion to Rotational
Motion.
 Determine the acceleration of objects moving
with Uniform.
 Circular Motion and Non-Uniform Circular
Motion.
 Describe the motion of an object in horizontal
circle and vertical circle.
 Solve problems related to rotational motion.

CONCEPT MAP

Angular Displacement
The angular position of the rigid object is the
angle θ between this reference line on the object and
the fixed reference line in space, which is often chosen
as the x axis. Such identification is similar to the way we
define the position of an object in translational motion
as the distance x between the object and the reference
position, which is the origin, x = 0.

ROTATIONAL KINEMATICS
As the particle in question on our rigid object
 The motion of objects as they translate -- move
travels from position A to position B a time interval Δt,
bodily from one place to another -- follows a simple
the reference line fixed to the object sweeps out an
set of rules. It turns out that a very similar set of
angle Δθ = θf - θi. This quantity Δθ is defined as the
rules describes the motion of objects as they rotate -
angular displacement of the rigid object:
- spin around in place.
 Physicists usually don't use degrees as a unit to ∆𝜽 = 𝜽𝒇 − 𝜽𝒊
measure angles; instead, they use radians.

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Average Angular Speed For 𝝎𝟐
The average angular speed ωavg(Greek letter 𝒓𝒂𝒅
omega) is the ratio of the angular displacement of a 𝝎𝟐 = (𝟔. 𝟎 ) (𝟓. 𝟎𝒔)𝟐 = 𝟏𝟓𝟎𝒓𝒂𝒅/𝒔
𝒔𝟑
rigid object to the time interval Δt during which the
displacement occurs. 𝝎𝟐 − 𝝎𝟏
𝛉𝐟 − 𝛉 𝐢 𝚫𝛉 ∝𝒂𝒗𝒈 =
𝝎𝒂𝒗𝒈 ≡ = 𝒕𝟐 − 𝒕𝟏
𝐭𝐟 − 𝐭𝐢 𝚫𝐭
𝟏𝟓𝟎𝒓𝒂𝒅/𝒔 − 𝟐𝟒𝒓𝒂𝒅/𝒔
Instantaneous angular speed ∝𝒂𝒗𝒈 =
𝟓. 𝟎 𝒔 − 𝟐. 𝟎 𝒔
We take ω to be positive when θ is increasing
(counterclockwise motion) and negative when θ is
∝𝒂𝒗𝒈 = 𝟒𝟐 𝒓𝒂𝒅/𝒔𝟐
decreasing (clockwise motion).
𝚫𝛉 𝒅𝜽
𝝎 ≡ 𝐥𝐢𝐦 = b. Find the instantaneous angular acceleration at time
𝚫𝐭→𝟎 𝚫𝐭 𝒅𝒕
t2 = 5.0s.
Average angular acceleration
𝒅𝝎𝒛
The average angular acceleration αavg (Greek 𝜶𝒛 = 𝒂𝒕 𝒕𝒊𝒎𝒆 𝒕 = 𝟓. 𝟎𝒔
letter alpha) of a rotating rigid object is defined as the 𝒅𝒕
ratio of the change in the angular speed to the time 𝒅 𝒓𝒂𝒅 𝒓𝒂𝒅
interval Δt during which the change in the angular 𝜶𝒛 = [(𝟔. 𝟎 𝟑 ) (𝒕)𝟐 ] 𝜶𝒛 = (𝟏𝟐 ) (𝒕)
𝒅𝒕 𝒔 𝒔𝟑
speed occurs.
𝛚𝐟 − 𝛚 𝐢 𝚫𝛚 𝒓𝒂𝒅 𝒓𝒂𝒅
𝜶𝒂𝒗𝒈 ≡ = 𝜶𝒛 = [(𝟔. 𝟎 ) (𝟐𝒕)] 𝜶𝒛 = (𝟏𝟐 ) (𝟓. 𝟎𝒔)
𝐭𝐟 − 𝐭𝐢 𝚫𝐭 𝒔𝟑 𝒔𝟑

Instantaneous angular acceleration 𝒓𝒂𝒅 𝒓𝒂𝒅

𝜶𝒛 = (𝟏𝟐 ) (𝒕) 𝜶𝒛 = 𝟔𝟎
The instantaneous angular acceleration is 𝒔𝟑 𝒔𝟐
defined as the limit of the average angular acceleration
as Δt approaches zero.
𝚫𝛚 𝒅𝝎
𝜶 ≡ 𝐥𝐢𝐦 = 2. You have just finished watching a movie on DVD and
𝚫𝐭→𝟎 𝚫𝐭 𝒅𝒕
the disc is slowing to a stop. The angular velocity of the
ROTATIONAL KINEMATIC EQUATIONS disc at t = 0 is 27.5 rad/s and its angular acceleration is a
constant -10.0rad/s2. A line PQ on the surface of the
Kinematic Equation 1: 𝛚𝐟 = 𝛚𝐢 + 𝛂𝐭 disc lies along the +x-axis at t=0 as shown in the figure.

Kinematic Equation 2: 𝜽𝒇 = 𝜽𝒊 + 𝝎𝒊 𝒕 + ½ 𝜶𝒕𝟐

Kinematic Equation 3: 𝝎𝟐𝒇 = 𝝎𝟐𝒊 + 𝟐𝜶(𝛉𝐟 − 𝛉𝐢 )

1. The instantaneous angular velocity

rad
ωz = (6.0 3 ) (t)2 a.)What will be the angular velocity of the dics at t =
s
0.300s?
a. Find the average angular acceleration between t1
=2.0s and t2 = 5.0s. At t = 0.300 s we have,

𝜔𝑧 = 𝜔0𝑧 + ∝𝑧 𝑡
For 𝝎𝟏 𝑟𝑎𝑑 𝑟𝑎𝑑
𝜔𝑧 = 27.5 + (−10.0 2 )(0.300𝑠)
𝒓𝒂𝒅 𝑠 𝑠
𝝎𝟏 = (𝟔. 𝟎 ) (𝟐. 𝟎𝒔)𝟐 = 𝟐𝟒 𝒓𝒂𝒅/𝒔
𝒔𝟑 𝒓𝒂𝒅
𝝎𝒛 = 𝟐𝟒. 𝟓
𝒔

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b.)What angle does the line PQ make with the +x-axis at The direction of the centripetal acceleration
this time. vector is always changing, to stay directed toward the
center of the circle of motion.
Solving for the angle,
PERIOD
1 The period, T, is the time required for one
𝜃 = 𝜃0 + 𝜔0𝑧 𝑡 + (∝𝑧 𝑡 2 )
2 complete revolution.
The speed of the particle would be the
𝑟𝑎𝑑 circumference of the circle of motion divided by the
𝜃 = 0 + (27.5 ) (0.300𝑠)
𝑠 period.
1 𝑟𝑎𝑑 𝟐𝝅𝒓
+ (−10.0 ) (0.300𝑠)2 𝑻=
2 𝑠
𝒗
𝜃 = 7.8 𝑟𝑎𝑑 ACCELERATION OF OBJECTS MOVING WITH NON-
1𝑟𝑒𝑣 UNIFORM CIRCULAR MOTION
𝜃 = 7.8 𝑟𝑎𝑑 ( )
2𝜋𝑟𝑎𝑑
TANGENTIAL ACCELERATION
𝜽 = 𝟏. 𝟐𝟒 𝒓𝒆𝒗 The magnitude of the velocity could also be
changing. In this case, there would be a tangential
ACCELERATION OF OBJECTS MOVING WITH UNIFORM acceleration.
CIRCULAR MOTION The motion would be under the influence of
both tangential and centripetal accelerations.
Uniform circular motion occurs when an object moves  Note the changing acceleration vectors
in a circular path with a constant speed.
Acceleration exists since the direction of the motion
is changing.
 This change in velocity is related to acceleration.
The constant-magnitude velocity vector is always
tangent to the path of the object.

Changing Velocity in Uniform Circular Motion

The change in the velocity vector is due to the change in
direction.
The direction of the change in velocity is toward the
center of the circle.
The vector diagram shows vf  vi  v TOTAL ACCELERATION
The tangential acceleration causes the change
in the speed of the particle.
The centripetal acceleration comes from a
change in the direction of the velocity vector.

The tangential acceleration:

𝒅𝒗
𝒂𝒕 = | |
𝒅𝒕
CENTRIPETAL ACCELERATION
The acceleration is always perpendicular to the The radial acceleration:
path of the motion. 𝒗𝟐
The acceleration always points toward the 𝒂𝒓 = −𝒂𝒄 = −
center of the circle of motion. The magnitude of the 𝒓
Note: centripetal means center seeking
centripetal acceleration vector is given by:
Radial means moving along a radius
𝒗𝟐
𝒂𝒄 =
𝒓
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The total acceleration: 1. On an amusement park ride, passengers are seated in
a horizontal circle of radius 7.5 m. The seats begin from
𝒂 = √𝒂 𝒓 𝟐 + 𝒂 𝒕 𝟐 rest and are uniformly accelerated for 21 seconds to a
 Magnitude
maximum rotational speed of 1.4 rad/s.
 Direction
 Same as velocity vector if v is 𝒓𝒂𝒅
increasing, opposite if v is decreasing Given: 𝝎𝒇 = 𝟏. 𝟒 ; 𝝎𝒊 = 𝟎 ; 𝒕 = 𝟐𝟏𝒔 ; 𝒓 = 𝟕. 𝟓𝒎
𝒔

a.) What is the tangential acceleration of the passengers

Linear and Angular Kinematics during the first 21 s of the ride?
When a rigid object rotates about a fixed axis as
in the figure, every particle of the object moves in a 𝝎𝒇 − 𝝎𝒊 𝟏. 𝟒 − 𝟎
circle whose center is on the axis of rotation. 𝜶= = = 𝟎. 𝟎𝟔𝟕𝒓𝒂𝒅/𝒔𝟐
𝒕 𝟐𝟏

b.) What is the instantaneous tangential speed of the

passengers 15 s after the acceleration begins?

𝑎𝑡 = 𝑟𝛼 = 7.5(0.067) = 𝟎. 𝟓𝒎/𝒔𝟐

0.067𝑟𝑎𝑑
𝜔 = 𝛼𝑡 + 𝜔𝑜 = ( ) (15𝑠) + 0 = 𝟏. 𝟎𝒓𝒂𝒅/𝒔
𝑠2
Tangential velocity - the translational velocity vector 1𝑟𝑎𝑑
that is always tangent to the circular path. 𝑣 = 𝑟𝜔 = 7.5𝑚 ( ) = 𝟕. 𝟓𝒎/𝒔
𝑠
The magnitude of the tangential velocity of the
point P is by definition 2. A discus thrower accelerates a discus from rest to a
𝒅𝒔 speed of 25.0 m/s by whirling it through 1.25 rev.
𝒗=
𝒅𝒕 Assume the discus moves on the arc of a circle 1.00 m in
radius.
Where s is the distance traveled by this point
measured along the circular path. Given: 𝒗 = 𝟐𝟓. 𝟎𝒎/𝒔; 𝒓 = 𝟏. 𝟎𝟎𝒎 ; 𝜽𝒇 = 𝟏. 𝟐𝟓𝒓𝒆𝒗

Recalling that 𝒔 = 𝒓ө and noting that r is constant, we a) Calculate the final angular speed of the discus.
obtain
𝒓𝒅ө 25𝑚
𝒗= 𝑣 𝒓𝒂𝒅
𝒅ө
𝒅𝒕 𝜔 = = 𝑠 = 𝟐𝟓
𝑟 1𝑚 𝒔
=𝝎
𝒅𝒕
𝒗 = 𝒓𝝎 b) Determine the magnitude of the angular acceleration
of the discus, assuming it to be constant.
The tangential acceleration can be derived as
the same manner as we derive acceleration in linear 25𝑟𝑎𝑑 2
motion. 𝜔2 ( 𝑠 )
𝛼= =
2(𝜃 − 𝜃𝑜 ) 2𝜋
2(1.25𝑟𝑒𝑣) (1𝑟𝑒𝑣)
𝑟𝑑𝜔
𝑎𝑡 =
⃗⃗⃗ = 𝑟𝛼
𝑑𝑡 = 𝟒𝟎 𝒓𝒂𝒅/𝒔𝟐
since
𝑣2 (𝑟𝝎)2
𝑎𝑟 = − =− = −𝑟𝝎𝟐 c) Calculate the total acceleration of the discus.
𝑟 𝑟
Then
𝒂 = √𝒂𝒓 𝟐 + 𝒂𝒕 𝟐 = √(−𝒓𝝎𝟐 )𝟐 + (𝑟𝛼)𝟐 40𝑟𝑎𝑑 25𝑟𝑎𝑑 4
𝑎 = 𝑟√𝛼 2 + 𝜔 2 = 1 𝑚√( 2 )2 + ( )
𝒂 = 𝒓√𝝎𝟒 + 𝛼 2 𝑠 𝑠

= 𝟔𝟐𝟔 𝒎/𝒔𝟐

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