Rotational Kinematics

Chapter 8
Rotational
Kinematics
Copyright © 2015 John Wiley & Sons, Inc. All rights reserved.
8.1 Rotational Motion and Angular Displacement
In the simplest kind of rotation,

points on a rigid object move on
circular paths around an axis of
rotation.
The angle through which the

object rotates is called the
angular displacement.
Dq = q - q o
DEFINITION OF ANGULAR DISPLACEMENT
When a rigid body rotates about a fixed axis, the angular

displacement is the angle swept out by a line passing through
any point on the body and intersecting the axis of
rotation perpendicularly.
By convention, the angular displacement

is positive if it is counterclockwise and
negative if it is clockwise.
SI Unit of Angular Displacement: radian (rad)

Arc length s
q (in radians) = =
Radius r
For a full revolution:
2p r
q= = 2p rad 2p rad = 360!
r
Example 1 Adjacent Synchronous Satellites
Synchronous satellites are put into

an orbit whose radius is 4.23×107m.
If the angular separation of the two

satellites is 2.00 degrees, find the
arc length that separates them.
Arc length s
q (in radians) = =
Radius r
æ 2p rad ö
2.00 degçç ÷÷ = 0.0349 rad
è 360 deg ø
( )
s = rq = 4.23 ´107 m (0.0349 rad )
= 1.48 ´106 m (920 miles)
Conceptual Example 2 A Total Eclipse of the Sun
The diameter of the sun is about 400 times greater than

that of the moon. By coincidence, the sun is also about
400 times farther from the earth than is the moon.
For an observer on the earth, compare the angle subtended

by the moon to the angle subtended by the sun and explain
why this result leads to a total
solar eclipse.
Arc length s
q (in radians) = =
Radius r
8.2 Angular Velocity and Angular Acceleration
Dq = q - q o
How do we describe the rate

at which the angular displacement
is changing?
DEFINITION OF AVERAGE ANGULAR VELOCITY
Angular displacement
Average angular velocity =
Elapsed time
q - qo
Dq
w= =
t - to Dt
SI Unit of Angular Velocity: radian per second (rad/s)
Example 3 Gymnast on a High Bar
A gymnast on a high bar swings through

two revolutions in a time of 1.90 s.
Find the average angular velocity

of the gymnast.
æ 2p rad ö
Dq = -2.00 revç ÷ = -12.6 rad
è 1 rev ø
- 12.6 rad
w= = -6.63 rad s
1.90 s
INSTANTANEOUS ANGULAR VELOCITY
Dq
w = lim w = lim
Dt ®0 Dt ®0 Dt
Changing angular velocity means that an angular

acceleration is occurring.
DEFINITION OF AVERAGE ANGULAR ACCELERATION
Change in angular velocity

Average angular acceleration =
Elapsed time
w - wo Dw
a = =
t - to Dt
SI Unit of Angular acceleration: radian per second squared (rad/s2)
Example 4 A Jet Revving Its Engines
As seen from the front of the

engine, the fan blades are
rotating with an angular
speed of -110 rad/s. As the
plane takes off, the angular
velocity of the blades reaches
-330 rad/s in a time of 14 s.
Find the angular acceleration, assuming it to

be constant.
a =
(- 330 rad s ) - (- 110 rad s )
= -16 rad s 2
14 s
8.3 The Equations of Rotational Kinematics
Recall the equations of kinematics for constant acceleration.
Five kinematic variables:

v = vo + at
1. displacement, x
2. acceleration (constant), a
x= 1
2
(vo + v ) t
3. final velocity (at time t), v
v = v + 2ax
2 2
o
4. initial velocity, vo
5. elapsed time, t x = vot + at 1

2
2
The equations of rotational kinematics for constant

angular acceleration:
ANGULAR ACCELERATION
ANGULAR VELOCITY
w = wo + a t
q = 12 (wo + w ) t
TIME
ANGULAR DISPLACEMENT
w = w + 2aq
2 2
o
q = wo t + a t 1
2
2
Reasoning Strategy
1. Make a drawing.
2. Decide which directions are to be called positive (+) and

negative (-). (The text uses CCW to be positive.)
3. Write down the values that are given for any of the five
kinematic variables.
4. Verify that the information contains values for at least three

of the five kinematic variables. Select the appropriate equation.
5. When the motion is divided into segments, remember that

the final angular velocity of one segment is the initial velocity
for the next.
6. Keep in mind that there may be two possible answers to a

kinematics problem.
Example 5 Blending with a Blender
The blades are whirling with an

angular velocity of +375 rad/s when
the “puree” button is pushed in.
When the “blend” button is pushed,

the blades accelerate and reach a
greater angular velocity after the
blades have rotated through an
angular displacement of +44.0 rad.
The angular acceleration has a

constant value of +1740 rad/s2.
Find the final angular velocity of the blades.

θ α ω ωo t
+44.0 rad +1740 rad/s2 ? +375 rad/s
w 2 = wo2 + 2aq
w = wo2 + 2aq
= (375 rad s ) 2
(
+ 2 1740 rad s 2
)(44.0rad ) = +542 rad s
8.4 Angular Variables and Tangential Variables
!
v T = tangential velocity
vT = tangential speed
q
w=
s rq æq ö t
vT = = = rç ÷
t t ètø
vT = rw (w in rad/s)
w - wo
a=
t
vT - vTo (rw ) - (rwo ) w - wo

aT = = =r
t t t
aT = ra (a in rad/s ) 2
Example 6 A Helicopter Blade
A helicopter blade has an angular speed of 6.50 rev/s and an

angular acceleration of 1.30 rev/s2.
For point 1 on the blade, find
the magnitude of (a) the
tangential speed and (b) the
tangential acceleration.
æ rev öæ 2p rad ö
w = ç 6.50 ÷ç ÷ = 40.8 rad s
è s øè 1 rev ø
vT = ra = (3.00 m )(40.8 rad s ) = 122 m s
æ rev öæ 2p rad ö
a = ç1.30 ÷ç ÷ = 8.17 rad s 2
è s 2 øè 1 rev ø
( )
aT = ra = (3.00 m ) 8.17 rad s 2 = 24.5 m s 2
8.5 Centripetal Acceleration and Tangential Acceleration
vT2 (rw )
2
ac = = = rw 2 (w in rad/s)
r r
Example 7 A Discus Thrower
Starting from rest, the thrower

accelerates the discus to a final
angular speed of +15.0 rad/s in
a time of 0.270 s before releasing it.
During the acceleration, the discus
moves in a circular arc of radius
0.810 m.
Find the magnitude of the total

acceleration.
ac = rw 2 = (0.810 m )(15.0 rad s )

2
= 182 m s 2
ω-ωo æ 15.0 rad s ö

aT = ra = r = (0.810 m )ç ÷
t è 0.270 s ø
= 45.0 m s 2
a = aT2 + ac2 = (182 m s ) + (45.0 m s ) = 187 m s

2 2 2
8.6 Rolling Motion
The tangential speed of a

point on the outer edge of
the tire is equal to the speed
of the car over the ground.
v = rw
a = ra
8.6 Rolling Motion
Example 8 An Accelerating Car
Starting from rest, the car accelerates

for 20.0 s with a constant linear
acceleration of 0.800 m/s2. The
radius of the tires is 0.330 m.
What is the angle through which

each wheel has rotated?
8.6 Rolling Motion
a 0.800 m s 2
a= = = 2.42 rad s 2
r 0.330 m
θ α ω ωo t
? -2.42 rad/s2 0 rad/s 20.0 s
q = wo t + a t1
2
2
q = 12 (- 2.42 rad s 2 )2(20.0 s )2 = -484 rad
8.7 The Vector Nature of Angular Variables
Right-Hand Rule: Grasp the axis of rotation with

your right hand, so that your fingers circle the axis
in the same sense as the rotation.
Your extended thumb points along the axis in the

direction of the angular velocity.

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Chapter 8

In the simplest kind of rotation,

The angle through which the

DEFINITION OF ANGULAR DISPLACEMENT

When a rigid body rotates about a fixed axis, the angular

By convention, the angular displacement

SI Unit of Angular Displacement: radian (rad)

For a full revolution:

Example 1 Adjacent Synchronous Satellites

Synchronous satellites are put into

If the angular separation of the two

Conceptual Example 2 A Total Eclipse of the Sun

The diameter of the sun is about 400 times greater than

For an observer on the earth, compare the angle subtended

How do we describe the rate

DEFINITION OF AVERAGE ANGULAR VELOCITY

SI Unit of Angular Velocity: radian per second (rad/s)

Example 3 Gymnast on a High Bar

A gymnast on a high bar swings through

Find the average angular velocity

INSTANTANEOUS ANGULAR VELOCITY

Changing angular velocity means that an angular

DEFINITION OF AVERAGE ANGULAR ACCELERATION

Change in angular velocity

Example 4 A Jet Revving Its Engines

As seen from the front of the

Find the angular acceleration, assuming it to

Recall the equations of kinematics for constant acceleration.

Five kinematic variables:

5. elapsed time, t x = vot + at 1

The equations of rotational kinematics for constant

2. Decide which directions are to be called positive (+) and

4. Verify that the information contains values for at least three

5. When the motion is divided into segments, remember that

6. Keep in mind that there may be two possible answers to a

Example 5 Blending with a Blender

The blades are whirling with an

When the “blend” button is pushed,

The angular acceleration has a

Find the final angular velocity of the blades.

vT - vTo (rw ) - (rwo ) w - wo

Example 6 A Helicopter Blade

A helicopter blade has an angular speed of 6.50 rev/s and an

vT = ra = (3.00 m )(40.8 rad s ) = 122 m s

Example 7 A Discus Thrower

Starting from rest, the thrower

Find the magnitude of the total

ac = rw 2 = (0.810 m )(15.0 rad s )

ω-ωo æ 15.0 rad s ö

a = aT2 + ac2 = (182 m s ) + (45.0 m s ) = 187 m s

The tangential speed of a

Example 8 An Accelerating Car

Starting from rest, the car accelerates

What is the angle through which

q = 12 (- 2.42 rad s 2 )2(20.0 s )2 = -484 rad

Right-Hand Rule: Grasp the axis of rotation with

Your extended thumb points along the axis in the

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