TRANSLATION AND ROTATION

OVERVIEW

This module will enable you to analyze the motion of systems of particles and rigid
bodies that are undergoing translational and rotational motion about a fixed direction.
We shall encounter examples of a rolling object whose motion is constrained. We will
examine the constraint conditions between the translational quantities that describe
the motion of the center of mass, displacement, velocity and acceleration, and the
rotational quantities that describe the motion about the center of mass, angular
displacement, angular velocity and angular acceleration.

LEARNING OBJECTIVES

At the end of this module, you should be able to:

1. Understand the concept of the kinematics of a rigid body undergoing planar

translation.
2. Understand the concept of the kinematics of a rigid body undergoing planar
rotation about a fixed axis.
3. Solve translational motion equations.
4. Solve rotation about a fixed axis equations.

LEARNING CONTENT

1.1 TRANSLATION

Translation occurs if any straight line on the body remains parallel to its original
direction during the motion. The motion is rectilinear when all points move along straight
lines (Fig. 1a). Whereas a motion that follows curved line paths is called curvilinear
translation (Fig. 1b).

(a) (b)

Fig. 1

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 The positions of two points A and B on a translating body can be related by

rB = rA + rB/A

where rA & rB are the absolute position vectors defined

from the fixed x-y coordinate system, and rB/A is the relative-
position vector between B and A (Fig. 2a).

The velocity at B is vB = vA+ drB/A/dt . Now drB/A/dt = 0

since rB/A is constant.

So, vB = vA, and by applying the same logic, aB = aA.

Fig. 2

Note: All points in a rigid body

subjected to translation move with
the same velocity and
acceleration (Fig. 2b & c)

1.2 ROTATION ABOUT FIXED AXIS

Consider a rigid body (refer to figure 1) which rotates about a fixed axis
AA’.
Let B be the projection of P on
AA’. since P must remain at a
constant distance from B, it will Assuming z
describe a circle of center B and axis coincides
of radius r sin f, where f denotes with AA’.
the angle formed by r and AA’.
a point of
the body
Assuming that the
frame is centered
at point O on AA’.

Position
vector

Figure 1.

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 The position of P and of the entire body

- is defined by the angle u the line BP forms with the zx plane.

The angular coordinate of

the body and is defined as
positive when viewed as Expressed in radians
counterclockwise from A’. (rad) or, occasionally
in degrees ( ° ) or
revolutions (rev).

We recall that:
𝒅𝒓
The velocity 𝒗 = of a particle P is a vector tangent to the path of P and of
𝒅𝒕
𝒅𝒔
magnitude 𝒗 = . Observing that the length ∆𝒔 of the arc described by P when the
𝒅𝒕
body rotates through ∆𝒖 is:

and dividing both members by ∆𝒕, we obtain at the limit, as ∆𝒕 approaches zero,

NOTE!
the angle u depends on the (15.4)
position of P within the body, but
the rate of change 𝒖̇ is itself
independent of P. Denotes the time
derivative of u.
Conclusion:

The velocity v of P is a vector perpendicular to the plane containing AA’ and r, and of
magnitude v defined by (15.4). But this is precisely the result we would obtain if we drew
along AA’ a vector 𝑽 = 𝒖̇ 𝒌 and formed the vector product 𝑽 × 𝒓(Fig. 15.9).

We thus write:
𝒅𝒓
𝑽= =𝑽×𝒓 (15.5)
𝒅𝒕

The Vector:
(15.6) 𝑽 = 𝒗𝒌 = 𝒖̇ 𝒌 - Is directed along the x axis
- Is called the angular
velocity of the body
- Is equal in magnitude to
the rate of change u ˙ of
the angular coordinate

The acceleration a of the particle P (15.7)

will now be determined.
Differentiating (15.5) and recalling the
rule for the differentiation of a vector MODULE 3: Kinematics of Rigid Bodies
product, we write:
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Differentiating (15.6) and recalling that k is constant in magnitude and direction, we
have:
(15.9)

Conclusion:

The angular acceleration of a body rotating about a fixed axis is a vector directed
along the axis of rotation, and is equal in magnitude to the rate of change 𝒗̇ of the
angular velocity.

NOTE!
The acceleration of P is the sum of two vectors. The first vector is
equal to the vector product A x r; it is tangent to the circle described by P and
therefore represents the tangential component of the acceleration. The second
vector is equal to the vector triple product V x (V x r) obtained by forming the
vector product of V and V x r; since V x r is tangent to the circle described by P,
the vector triple product is directed toward the center B of the circle and
therefore represents the normal component of the acceleration.

Rotation of a Representative Slab.

The rotation of a rigid body about a fixed axis can be defined by the motion
of a representative slab in a reference plane perpendicular to the axis of rotation.

Choose the xy plane as the reference lane and

assume that it coincides with the plane of the
figure, with the z axis pointing out of the paper (Fig.
15.10). Recalling from (15.6) that V=vk, we note
that a positive value of the scalar v corresponds
to a counterclockwise rotation of the
representative slab, and a negative value to

a clockwise rotation. Substituting vk for V into Eq.

(15.5), we express the velocity of any given point
(15.10)
P of the slab as: 𝒗 = 𝒗𝒌 × 𝒓

Since the vectors k and r are mutually perpendicular, the magnitude of the
velocity v is : 𝒗 = 𝒓𝑽 (15.10’)

and its direction can be obtained by rotating r through 90° in the sense of rotation of
the slab.

Substituting V = vk and A = ak into Eq. (15.8), and observing that cross-multiplying

r twice by k results in a 180° rotation of the vector r, we express the acceleration of point
P as:
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 𝒂 = 𝒂𝒌 × 𝒓 − 𝒗𝟐 𝒓 (15.11)

Resolving a into tangential and normal components (Fig. 15.11),

We write:

(15.11’)

The tangential component at points in the counterclockwise direction if the scalar

a is positive, and in the clockwise direction if a is negative. The normal component an
always points in the direction opposite to that of r, that is, toward O.

1.3 EQUATIONS DEFINING THE ROTATION OF A RIGID BODY ABOUT A FIXED AXIS

The motion of a rigid body rotating about a fixed axis AA’ is said to be known when we
can express its angular coordinate θ as a known function of t. In practice, however, we
can seldom describe the rotation of a rigid body by a relation between θ and t. More
often, the conditions of motion are specified by the angular acceleration of the body.
For example, α may be given as a function of t, as a function of θ, or as a function of ω.
From the relations in Eqs. (15.6) and (15.9), we have

𝒅𝜽
𝝎= (15.12)
𝒅𝒕

𝒅𝝎 𝒅𝟐 𝜽
𝜶= = (15.13)
𝒅𝒕 𝒅𝒕𝟐

or solving Eq. (15.12) for dt and substituting into Eq. (15.13), we have

𝒅𝝎
𝜶 = 𝝎 𝒅𝜽 (15.14)

These equations are similar to those obtained in Chap. 11 for the rectilinear motion of a
particle, so we can integrate them by following the procedures outlined in Sec. 11.1B.
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Two particular cases of rotation occur frequently:

1. Uniform Rotation. This case is characterized by the fact that the angular
acceleration is zero, therefore the angular velocity is constant and the angular
position is given by

𝜽 = 𝜽𝟎 + 𝝎𝒕 (15.15)

2. Uniformly Accelerated Rotation. In this case, the angular acceleration is constant.

We can derive the following formulas relating angular velocity, angular position,
and time in a manner similar to that described in Sec. 11.2B. The similarity between
the formulas derived here and those obtained for the rectilinear uniformly
accelerated motion of a particle is apparent.

𝝎 = 𝝎𝟎 + 𝜶𝒕

𝟏
𝜽 = 𝜽𝟎 + 𝝎𝟎 𝒕 + 𝟐 𝜶𝒕𝟐 (15.16)

𝝎𝟐 = 𝝎𝟎 𝟐 + 𝟐𝜶(𝜽 − 𝜽𝟎 )

We emphasize that you can use formula (15.15) only when α = 0, and formulas (15.16)
only when α = constant. In any other case, you need to use the general Eq. (15.12)
through Eq. (15.14).

Sample Problems

Example 1

A motor (see Fig. 3) is used to turn a wheel and attached blower contained within
the housing. If the pulley A connected to the motor begins to rotate from rest with a
constant angular acceleration of a = 2 rad/s2, determine the magnitudes of the velocity
and acceleration of point P on the wheel, after the pulley has turned two revolutions.
Suppose the transmission belt does not slip on the pulley and wheel.

Solution:

(Fig. 3a) Finding the angular velocities and accelerations;

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 2𝜋 𝑟𝑎𝑑
θA = 2 rev ( 1 𝑟𝑒𝑣 ) = 12.57 𝑟𝑎𝑑

(+) Clockwise

ω2 = (ω0)2 + 2aC (θ – θ0)

(ωA)2 = 0 + 2(2) (12.57 – 0)

ωA = 7.09 rad/s

v = ωA rA = ωB rB

7.09 (0.15) = ωB (0.4) (a)

ωB = 2.659 rad/s Fig. 3

at = aA rA = aB rB

2 (0.15) = aB (0.4)

aB = 0.75 rad/s2

(Fig. 3b) Solving the velocity and acceleration of point P;

vP = ωB rB = (2.659)(0.4)

vP = 1.06 m/s

(aP)t = aB rB = (0.75)(0.4)

(aP)t = 0.3 m/s2

(aP)n = (ωB)2 rB = (2.659)(0.4)

(aP)n = 2.827 m/s2

aP = √(0.3)2 + (2.827)2 (b)

aP = 2.84 m/ s2

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Example 2

The rotor of a gas turbine is rotating at a speed of 6900 rpm when the turbine is shut
down. It is observed that 4 min is required for the rotor to coast to rest. Assuming
uniformly accelerated motion, determine (a) the angular acceleration, (b) the
number of revolutions that the rotor executes before coming to rest.

Solution:

2𝜋(6900)
𝜔0 = 6900 𝑟𝑝𝑚 = = 722.57 𝑟𝑎𝑑/𝑠
60
𝑡 = 4 𝑚𝑖𝑛 = 240𝑠

(a.)

𝜔 = 𝜔0 + 𝛼𝑡

0 = 722.57 + 𝛼(240)

𝜶 = −𝟑. 𝟎𝟏𝟎𝟕 𝒓𝒂𝒅/𝒔𝟐

(b.)

1
𝜃 = 𝜔0 𝑡 + 𝛼𝑡 2
2
1
𝜃 = (722.57)(240) + (−3.0107)(240)2
2
𝜃 = 173,416 − 86,708

𝜃 = 86708 𝑟𝑎𝑑

rad → rev

1 𝑟𝑒𝑣
𝜃 = 86708 𝑟𝑎𝑑( )
2𝜋 𝑟𝑎𝑑
𝜽 = 𝟏𝟑, 𝟖𝟎𝟎 𝒓𝒆𝒗

Example 3

A small grinding wheel is attached to the shaft of an

electric motor which has a rated speed of 3600 rpm.
When the power is turned on, the unit reaches its rated
speed in 5 s, and when the power is turned off, the unit
coasts to rest in 70 s. Assuming uniformly accelerated
motion, determine the number of revolutions that the
motor executes (a) in reaching its rated speed, (b) in
coasting to rest.

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Solution:

For uniformly accelerated motion

𝜔 = 𝜔0 + 𝛼𝑡 (eq. 1)
1
𝜃 = 𝜃0 + 𝜔0 𝑡 + 2 𝛼𝑡 2 (eq. 2)

(a.) Data for startup: 𝜃 = 0, 𝜔0 = 0

2𝜋(3600)
At t = 5 s, 𝜔 = 3600 𝑟𝑝𝑚 = = 1200𝜋 𝑟𝑎𝑑/𝑠
60

From Eq. 1 𝜔 = 𝜔0 + 𝛼𝑡

1200𝜋 = 0 + 𝛼(5)

𝛼 = 24𝜋 𝑟𝑎𝑑/𝑠 2
1
From Eq. 2 𝜃 = 𝜃0 + 𝜔0 𝑡 + 2 𝛼𝑡 2

1
𝜃 = 0 + 0(5) + 2 (24𝜋)(5)2

𝜃 = 300𝜋 𝑟𝑎𝑑

rad → rev
1 𝑟𝑒𝑣
𝜃 = 300𝜋 𝑟𝑎𝑑(2𝜋 𝑟𝑎𝑑)

𝜽 = 𝟏𝟓𝟎 𝒓𝒆𝒗

(b.) Data for coasting to rest: 𝜃0 = 0, 𝜔0 = 120𝜋 𝑟𝑎𝑑/𝑠

At t = 70 s, 𝜔=0

From eq. 1 𝜔 = 𝜔0 + 𝛼𝑡

0 = 120𝜋 − 𝛼(70)
120𝜋
𝛼= 𝑟𝑎𝑑/𝑠
70

1
From eq. 2 𝜃 = 𝜃0 + 𝜔0 𝑡 + 2 𝛼𝑡 2

1 120𝜋
𝜃 = 0 + (120𝜋)(70) − ( )(70)2
2 70
𝜃 = 4200𝜋 𝑟𝑎𝑑𝑖𝑎𝑛𝑠

rad → rev
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 1 𝑟𝑒𝑣
𝜃 = 4200𝜋 𝑟𝑎𝑑(2𝜋 𝑟𝑎𝑑)

𝜽 = 𝟐𝟏𝟎𝟎 𝒓𝒆𝒗

Example 4

The earth makes one complete revolution around the sun in 365.24 days. Assuming
that the orbit of the earth is circular and has a radius of 93,000,000 mi, determine the
velocity and acceleration of the earth.

Solution:
2𝜋 𝑟𝑎𝑑
𝜔= 24 ℎ𝑟 3600 𝑠
(365.24 𝑑𝑎𝑦𝑠)( )( )
𝑑𝑎𝑦 ℎ𝑟

𝜔 = 199.11 × 10−9 𝑟𝑎𝑑/𝑠

𝑣 = 𝑟𝜔
5280 𝑓𝑡
𝑣 = (93 × 106 𝑚𝑖 ) ( ) (199.11 × 10−9 𝑟𝑎𝑑/𝑠)
𝑚𝑖

𝟎.𝟔𝟖𝟏 𝒎𝒊/𝒉𝒓
𝒗 = 𝟗𝟕, 𝟕𝟕𝟎𝒇𝒕/𝒔 × ( ) = 𝟔𝟔, 𝟕𝟎𝟎 𝒎𝒊/𝒉
𝒇𝒕/𝒔

𝑎 = 𝑟𝜔2

𝑎 = (93 × 106 )(5280)(199.11 × 10−9 )2

𝒂 = 𝟏𝟗. 𝟒𝟕 × 𝟏𝟎−𝟑 𝒇𝒕/𝒔𝟐

Example 5

A driver starts his car with the door on the passenger’s side
wide open (θ = 0). As the car moves forward with constant
acceleration, the angular acceleration of the door is α = 2.5
cos θ, where α is in rad/s2. Determine the angular velocity of
the door as it slams shut (θ = 90°).

STRATEGY:

You are given the angular acceleration as a function of θ, so use the kinematic
relationships between angular acceleration, angular velocity, angular position, and
time.

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MODELING and ANALYSIS:

Model the door as a rigid body. Using the basic kinematic relationship gives

𝒅𝝎 𝒅𝝎
𝜶= =𝝎 = 𝟐. 𝟓 𝐜𝐨𝐬 𝜽
𝒅𝒕 𝒅𝜽

Separating variables gives

𝝎 𝒅𝝎 = 𝟐. 𝟓 𝐜𝐨𝐬 𝜽 𝒅𝜽

Integrating, using ω = 0 when θ = 0, you have

𝝎 𝜽
∫ 𝝎 𝒅𝝎 = ∫ 𝟐. 𝟓 𝐜𝐨𝐬 𝜽 𝒅𝜽
𝟎 𝟎

𝟏 𝟐 𝝅⁄𝟐
𝝎 = 𝟐. 𝟓 𝐬𝐢𝐧 𝜽 | = 𝟐. 𝟓
𝟐 𝟎

𝝎 = 𝟐. 𝟐𝟒 𝒓𝒂𝒅/𝒔

Example 6

The brake drum is attached to a larger flywheel that is not

shown. The motion of the brake drum is defined by the
relation θ = − 36t - 1.6t2, where θ is expressed in radians and t
in seconds. Determine (a) the angular velocity at t = 2 s, (b)
the number of revolutions executed by the brake drum
before coming to rest.

GIVEN: 𝜃 = 36𝑡 − 1.6𝑡 2 in radians

Differentiate to obtain the angular velocity.

𝒅𝜽
𝝎= = 𝟑𝟔 − 𝟑. 𝟐𝒕
𝒅𝒕

(a) At t = 2 s,

𝝎 = 𝟑𝟔 − 𝟑. 𝟐(𝟐) = 𝟐𝟗. 𝟔 𝒓𝒂𝒅/𝒔

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(b) When the rotor stops

𝝎=𝟎

𝟎 = 𝟑𝟔 − 𝟑. 𝟐𝒕

𝒕 = 𝟏𝟏. 𝟐𝟓 𝒔

𝜽 = 𝟑𝟔(𝟏𝟏. 𝟐𝟓) − 𝟏. 𝟔(𝟏𝟏. 𝟐𝟓)𝟐 = 𝟐𝟎𝟐. 𝟓 𝒓𝒂𝒅𝒊𝒂𝒏𝒔

In revolutions,

𝟐𝟎𝟐. 𝟓
𝜽= = 𝟑𝟐. 𝟐 𝒓𝒆𝒗
𝟐𝝅

Example 7

When studying whiplash resulting from rear end collisions, the

rotation of the head is of primary interest. An impact test was
performed, and it was found that the angular acceleration of the
head is defined by the relation α = 700cosθ + 70sinθ where α is
expressed in rad/s2 and θ in radians. Knowing that the head is
initially at rest, determine the angular velocity of the head when θ
= 30°

Angular motion relations:

𝒅𝝎 𝒅𝝎
𝜶= =𝝎 = 𝟕𝟎𝟎 𝐜𝐨𝐬 𝜽 + 𝟕𝟎 𝐬𝐢𝐧 𝜽
𝒅𝒕 𝒅𝜽

Separating variables ω and θ gives

𝝎 𝒅𝝎 = (𝟕𝟎𝟎 𝐜𝐨𝐬 𝜽 + 𝟕𝟎 𝐬𝐢𝐧 𝜽)𝒅𝜽

Integrating, using ω = 0 when θ = 0,

𝝎 𝜽
∫ 𝝎 𝒅𝝎 = ∫ (𝟕𝟎𝟎 𝐜𝐨𝐬 𝜽 + 𝟕𝟎 𝐬𝐢𝐧 𝜽) 𝒅𝜽
𝟎 𝟎

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 𝟏 𝟐 𝜽
𝝎 = (𝟕𝟎𝟎 𝐜𝐨𝐬 𝜽 + 𝟕𝟎 𝐬𝐢𝐧 𝜽)| = 𝟕𝟎𝟎 𝐬𝐢𝐧 𝜽 + 𝟕𝟎(𝟏 − 𝐜𝐨𝐬 𝜽)
𝟐 𝟎

𝝎 = √𝟏𝟒𝟎𝟎 𝐬𝐢𝐧 𝜽 + 𝟏𝟒𝟎(𝟏 − 𝐜𝐨𝐬 𝜽)

𝝅
Data: 𝜽 = 𝟑𝟎° = 𝟔 𝒓𝒂𝒅

With calculator set to “degrees” for trigonometric functions,

𝝎 = √𝟏𝟒𝟎𝟎 𝐬𝐢𝐧 𝟑𝟎° + 𝟏𝟒𝟎(𝟏 − 𝐜𝐨𝐬 𝟑𝟎°)

𝝎 = 𝟐𝟔. 𝟖 𝒓𝒂𝒅/𝒔

With calculator set to “radians” for trigonometric functions,

𝝅 𝝅
𝝎 = √𝟏𝟒𝟎𝟎 𝐬𝐢𝐧 + 𝟏𝟒𝟎 (𝟏 − 𝐜𝐨𝐬 )
𝟔 𝟔

𝝎 = 𝟐𝟔. 𝟖 𝒓𝒂𝒅/𝒔

Practice Problems

1. Starting from rest when s = 0, pulley A (rA = 50 mm) is given a constant angular
acceleration, αA = 6 rad/s2. Pulley C (rC = 150 mm) has an inner hub D (rD = 75
mm) which is fixed to C and turns with it. Find the speed of block B when it has
risen s = 6 m. (Answer: vB = 1.34 m/s ↑)

2. The angular acceleration of a shaft is defined by the relation α 𝛼 = −0.25𝜔 ,

where 𝛼 is expressed in 𝑟𝑎𝑑/𝑠 2 and 𝜔 in 𝑟𝑎𝑑/𝑠. Knowing that at 𝑡 = 0 the angular
velocity of the shaft is 20 𝑟𝑎𝑑/𝑠, determine (a) the number of revolutions the shaft
will execute before coming to rest, (b) the time required for the shaft to come to
rest, (c) the time required for the angular velocity of the shaft to be reduced to 1
percent of its initial value.

Answer: (a.) 𝜽 = 𝟏𝟐. 𝟕𝟑 𝒓𝒆𝒗 (b.) 𝒕 = ∞ (c.) 𝒕 = 𝟏𝟖. 𝟒𝟐 𝒔

3. The earth makes one complete revolution on its axis in 23 h 56 min. Knowing that
the mean radius of the earth is 3960 mi, determine the linear velocity and
acceleration of a point on the surface of the earth (a) at the equator, (b) at
Philadelphia, latitude 40° north, (c) at the North Pole.

Answer: (a.) 𝒗 = 𝟏𝟓𝟐𝟓 𝒇𝒕/𝒔 𝒂 = 𝟎. 𝟏𝟏𝟏𝟐 𝒇𝒕/𝒔𝟐

(b.) 𝒗 = 𝟏𝟏𝟔𝟖 𝒇𝒕/𝒔 𝒂 = 𝟎. 𝟎𝟖𝟓𝟐 𝒇𝒕/𝒔𝟐

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 (c.) 𝒗 = 𝒂 = 𝟎

4. The motion of an oscillating crank is defined by the relation θ = θ0 sin (pt/T) -

(0.5θ0) sin (2 pt/T), where θ is expressed in radians and t in seconds. Knowing
that θ0 = 6 rad and T = 4 s, determine the angular coordinate, the angular
velocity, and the angular acceleration of the crank when (a) t = 0, (b) t = 2 s.

(Answer: (a) 0, 0, 0. (b) 6.00 rad, 4.71 rad/s, -3.70 rad/s2)

5. The angular acceleration of an oscillating disk is defined by the relation α = −kθ.

Determine (a) the value of k for which ω = 8 rad/s when θ = 0 and θ = 4 rad
when ω = 0, (b) the angular velocity of the disk when θ = 3 rad.

(Answer: (a) k = 4.00 s-2. (b) ω = 5.29 rad/s)

SUPPLEMENTARY MATERIALS

Please watch the videos on the link below for your supplementary materials.

Title
Dynamics: Rigid Body Kinematics –
Translation Overview
Dynamics Lecture 23: Rigid body planar
motion – Translation
Kinematics of Rigid Bodies – Translation
And Rotation About a Fixed Axis –
Rectilinear and Rotational Motion
Rotation about a
Fixed Axis
URL
https://youtu.be/eJ4CKArvesI
https://youtu.be/seqqVWP_5P4
https://youtu.be/VnzsQmP6eMQ
https://www.youtube.com/watch?v=bR3
fZ-goD2Q&t=433s

Rigid Bodies: Rotation About a Fixed Axis https://www.youtube.com/watch?v=zrm

Dynamics BObWEDuE&t=18s
Equations Defining the Rotation of a Rigid https://www.youtube.com/watch?v=VC
Body About a Fixed Axis pugBvIXDA
Rotation of Rigid Body about Fixed Axis https://www.youtube.com/watch?v=eA
Derivation and Problems p2k1KZZOM

KEY CONCEPTS/FOCUS POINTS:

1.1. Translation

When dealing with rigid bodies, we must take note that:

▪ A body can undergo two types of translation: Rectilinear and Curvilinear

translation.

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 ▪ All points during rectilinear translation follows a straight-line paths whereas during
curvilinear translation the points follows a curved paths that are the same shape
and are equidistant to one another.
▪ All the points on a translating body move with the same velocity and acceleration.

1.2. Rigid body rotating about a fixed axis

The position of a rigid body rotating about a fixed axis was defined at any given instant
by the angular coordinate u, which is usually measured in radians. Selecting the unit
vector k along the fixed axis and in such a way that the rotation of the body appears
counterclockwise as seen from the tip of k, we defined the angular velocity V and the
angular acceleration A of the body:

𝑽 = 𝒖̇ 𝒌 𝑨 = 𝒖̈ 𝒌 (15.6, 15.9)

In solving problems, keep in mind that the vectors V and A are both directed along the
fixed axis of rotation and that their sense can be obtained by the right-hand rule.

a. The velocity of a point P of a body rotating about a fixed axis was found to be
𝒗= 𝑽×𝒓 (15.5)

where V is the angular velocity of the body and r is the position vector drawn from
any point on the axis of rotation to point P (Fig. 15.9).

b. The acceleration of point P was found to be

𝒂 = 𝑨 × 𝒓 + 𝑽 × (𝑽 × 𝒓) (15.8)

Since vector products are not commutative, be sure to write the vectors in the
order shown when using either of the above two equations.

Rotation of a representative slab. In many problems, you will be able to reduce the
analysis of the rotation of a three-dimensional body about a fixed axis to the study of
the rotation of a representative slab in a plane perpendicular to the fixed axis. The 𝑧 axis
should be directed along the axis of rotation and point out of the paper. Thus, the
representative slab will be rotating in the 𝑥𝑦 plane about the origin 𝑂 of the coordinate
system (Fig. 15.10).

To solve problems of this type you should do the following:

a. Draw a diagram of the representative slab, showing its dimensions, its angular
velocity and angular acceleration, as well as the vectors representing the
velocities and accelerations of the points of the slab for which you have or
seek information.

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 b. Relate the rotation of the slab and the motion of points of the slab by writing
the equations
𝒗 = 𝒓𝑽 (15.10’)

𝒂𝒕 = 𝒓𝒂 𝒂𝒏 = 𝒓𝒗𝟐 (15.11’)

Remember that the velocity 𝒗 and the component 𝒂𝒕 of the acceleration of point P of
the slab are tangent to the circular path described by P. The directions of 𝒗 and 𝒂𝒕 are
found by rotating the position vector 𝒓 through 90° in the sense indicated by 𝑽 and 𝑨,
respectively. The normal component 𝒂𝒏 of the acceleration of P is always directed
toward the axis of rotation.

1.3. Equations defining the rotation of a rigid body

You must have been pleased to note the similarity existing between the equations
defining the rotation of a rigid body about a fixed axis [Eqs. (15.12) through (15.16)] and
those in Chap. 11 defining the rectilinear motion of a particle [Eqs. (11.1) through (11.8)].
All you have to do to obtain the new set of equations is to substitute u, v, and a for x, v,
and a in the equations of Chap. 11.

REFERENCES

Beer, F., Johnston, Jr, Mazurek, D., & Cornwell, P. (2012). Vector Mechanics for
Engineers: Statics and Dynamics (10th ed.). McGraw-Hill Education.

Cornwell, P., Beer, F., Mazurek, D., Johnston, E. R., & Jr. Johnston, E. R. (2012). Vector

Mechanics for Engineers: Statics and Dynamics. McGraw-Hill Education.

Hibbeler, R. C. (2009). Engineering Mechanics: Dynamics (12th ed.). Pearson.

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