PHY 210_CHAPTER 1

CHAPTER 1
ROTATIONAL MOTION

1.1 Angular Velocity, Angular Acceleration, Rotational

Kinematics
1.2 Torque (relation between torque and angular acceleration)
1.3 Moment of Inertia, Angular Momentum, and its
conservation
1.4 Rotational Kinetic Energy,
1.5 Conservation of Energy in Translation and Rotational motion

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 PHY 210_CHAPTER 1

Mo#on of an object

•  Motion in which an entire object

moves is called translation.
•  Motion in which an object spins
is called rotation.
•  The point or line about which
an object turns is its center of
rotation.
•  An object can rotate and
translate.

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 PHY 210_CHAPTER 1

ROTATIONAL MOTION

1.1 ROTATIONAL KINEMATICS

1.  Rotational Kinematics (Angular Quantities)

a) angular displacement (θ)
b) angular velocity (ω)
c) angular acceleration (α)
d) period of rotation (T)
e) frequency (f)

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 PHY 210_CHAPTER 1

1.  Rotational Kinematics (Angular Quantities)

a)  Angular Displacement, θ

A particle P moves in a circle. At a particular
constant, it has an angular position of θ from its Angular position, θ
starting point. This is known as the angular
displacement , θ.
s

The deRinition:
θ = the angle through which a rigid body/
object rotates about a Rixed axis. v
s Arc length, s = r θ
θ =
r For complete circle :
to complete 360 o , θ = 360 o , s = 2 π r
1 rev = 360 o = 2 π rad
s 2π r
∴ θ = 360 o = = = 2 π rad 1 rad = 57.3o
r r
unit of θ : rad , revolution, or degree
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 PHY 210_CHAPTER 1

b) Angular Velocity, ω
The deRinition of ,
ω = the rate of the change of angular displacement

Δθ θ 2 −θ 1
ω= =
Δt t 2 −t1

if the angular velocity is constant, ω will be a constant

value, so;
θ
ω=
t
Unit : radian per second (rad s -1 ),
-1 Vector ω θ
revolution per minutes (rev min )
r

Relation between linear velocity and angular velocity

s
r=
v=rω t
θ s
ω= where θ =
t r
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 PHY 210_CHAPTER 1

c) Angular Acceleration,
The deRinition of ,
α = a rate of change of angular velocity of a revolving particle.


ω2 −ω1
α =
t 2 −t1
Unit : rad/s 2 , rev/s 2 , rev/min 2

Relation between linear acceleration, a and angular acceleration, α
a = rα
α in rad / s

SUMMARY
a) s = rθ
b) v = rω
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c) a = r α
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 PHY 210_CHAPTER 1

d) Period of Rotation

T = the time taken to rotate through one round.

2π 2π
ω= so Period ,T =
T ω
unit : sec ond , minute, hour

e) Frequency or Revolution
f = the number of rotation performed per frequency
* let an object rotates n times in t seconds, then
n n
f = or t =
t f

* to complete one round, time taken is T seconds
* to complete n rounds, time t taken is

t = nT
∴ ω = 2π f
n 1
hence , nT = ∴ f = SI unit : hertz (Hz ) or s −1
f T
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 PHY 210_CHAPTER 1

Example;
What is the angular size in radians as shown in the Figure.

s r = 10 m
θ = s = 6 m
r θ
6
=
10
Example; = 0.6 rad

A boy on a bicycle is traveling at 10 m/s. What is the angular speed of a point

on the tire of the bicycle if the radius is 34 cm?
given v = 10 m / s , r = 0.34 m , ω = ?
from v = r ω
v
ω=
r
10
=
0.34
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= 29.4 rad / s
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 PHY 210_CHAPTER 1

Example;
A object undergoes circular motion with uniform angular speed 100 r.p.m.
Determine a) the period b) the frequency of revolution

given ω = 100 rpm
100 rev 2 π rad 1 min
a) ω= × ×
min 1 rev 60 s
= 10 .4 7 rads −1

2π
from ω =
T
2π
T = = 0.6 s
ω

1
b) f =
T
= 1.67 Hz
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 PHY 210_CHAPTER 1

Example;
Two lorries are going around two different circular paths at the same angular
velocity. The speed of one lorry is 50 km/h on a track of radius R. What is the
speed of the other lorry if its track has a radius of ¼ R?

given v1 =13.87 m / s , r1 = R , r2 = 1 R
4
v1 = r1 ω
v1 = r1 ω v1 13.87 m / s
ω = =
ω1 = ω2 r1 R
v1 v2
=
r1 r2 R
v2 = r2 ω , r2 =
v1 4
v2 = r2
r1 R ⎛ 13.87 m / s ⎞
= ⎜ ⎟
R ⎛ 13.87 m / s ⎞ 4⎝ R ⎠
= ⎜ ⎟ = 3.47 m / s
4⎝ R ⎠
= 3.47 m / s
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 PHY 210_CHAPTER 1

Example: What is the linear speed of a point on the edge of a steadily

rotating 33 rpm (revolution per minute) phonograph record
whose diameter is 30 cm?
33 rev 2 π rad 1 min
ω= × ×
min 1 rev 60 s
= 3.5 rads −1

from v = r ω
= (0.15 m)(3.5 rads −1 )
= 0.53 m / s

additional notes

∗ 1 rev = 2 π rad where 2π = 360 o

s
from θ = when s = r , θ = 1 rad
r
s ( m)
∴ θ (rad ) =
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r ( m)
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 PHY 210_CHAPTER 1

Example: A car moves with tangential linear velocity of 50km/h in circle of

radius 300m. Determine the angular velocity of the car as it goes
round the circle.
Given r = 300m
v = 50km/h = 13.9m/s

v 13.9 m / s
ω= =
r 300 m
= 0.016 rad / s

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 PHY 210_CHAPTER 1

Example: A centrifuge rotor is accelerated from rest to 20,000 rpm in 5 minute.

What is its average angular acceleration?

Given ω = 20,000 rev/min = 333.33 rev/s
t = 5 min = 300 s
ωi = 0 , α = …..


20222 rev 2 π rad 1 min
ω= × ×
min 1 rev 60 s
= 2074 rads −1

ω f − ωi
α =
t f − ti
2094 rad / s − 0
=
300 s
= 6.98 rad / s 2

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 PHY 210_CHAPTER 1

EQUATION of ANGULAR KINEMATICS UNDER UNIFORM ANGULAR

ACCELERATION

LINEAR ANGULAR
v = u + at ω f =ωi + α t
a)  s = r θ
1 1
s = (u + v ) t θ = (ω i + ω f ) t b)  v = r ω
2 2
1 2 1 c)  a = r α
s = ut + a t θ = ω it + α t 2
2 2
v2 = u 2 + 2 a s ω f 2 = ω i2 + 2α θ

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 PHY 210_CHAPTER 1
CENTRIPETAL ACCELERATION and CENTRIPETAL FORCE
1) Centripetal Acceleration
P
A v
Q a

B
•  the tangential linear velocity of the object points along PA
•  at the position of Q, the direction of velocity is QB
•  the velocity must change with time as it travel round the circle.
•  this change produces acceleration, means that an object traveling in a circle
must experience acceleration, owing to the fact that its direction changes
continuously.
•  this is the centripetal acceleration whose the direction is always towards the
center of the circle. v2 (velocity of body )
ac = =
r radius of circular path
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 PHY 210_CHAPTER 1
2) CENTRIPETAL FORCE

•  the inward force that must be applied to keep a body moving in a circle is called
centripetal force.
•  without this force, circular motion cannot occur.
since F=ma, and ac = v2/r, the magnitude of the centripetal force on a body in
uniform motion is;
ω = constant

a
From the 2nd Newton's law of motion; F = ma
a
v2
Thus, Centripetal Force Fc = ma , ac = a
r a
2
mv
= , v = rω
r
m ( rω ) 2
=
r
F = mω 2 r
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 PHY 210_CHAPTER 1

Example: Example:

A 4 kg ball swung in a horizontal circle
An object of mass 100g is placed 40 cm
by a cord 2m long. What is the
from the center of a horizontal turn
tension in the cord if the period is 0.5 s?
table. If the maximum friction force
Given m = 4 kg, r = 2m, T = 0.5s,
between the object and turn table is
Tension = Fc = …..
0.5 N, what will be the angular velocity
of the turn table when the object is
about to slide?
from T = Fc
Given m = 0.1kg, r = 0.4m,
v = rω , ω = 2π f
f = Fc = 0.5N, ω = ……
= 2π f r
2π r 2π (2m)
= = = 25.1 m / s
T 5s Fc = mr ω 2
Fc
ω=
mv 2 mr
∴ Fc =
r 0.5 N
=
4 kg (25.1m / s ) 2 0.1kg(0.4 m)
=
2m = 3.5 rad / s
= 1260 N
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 PHY 210_CHAPTER 1

1.2 Torque (Relationship between torque and angular

acceleration)
Torque can be deained as the tendency to produce a change in
rotational motion. It is also called the moment of force.
§ Rotational motion is effected by both the magnitude of force and its
moment arm.
§ Thus, we will deaine torque, T as the product of a force and its
moment arm.

Torque = Force × Moment Arm

τ = F× r

and the magnitude is

τ = F sin θ × r

F perpendicular to r
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 PHY 210_CHAPTER 1

Using Newton's second law to relate F to the tangential acceleration a

= rα , where α is the angular acceleration:
F  = ma   ,   a = rα
    =  mrα

and the fact that the torque about the center of rotation due to F is: Τ = Fr,
we get

τ  = Fr   ,    F  = mrα
   = mrα (r)
   =  mr 2α

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 PHY 210_CHAPTER 1
1.3 Moment of Inertia ,Angular momentum, and its conservation
* Moment of inertia (rotational inertia)
Which is the tendency of a body to resist change in its angular velocity (ω).
Symbol : I Symbol in moment Inertia

Unit : kg m2 ω = angular velocity

it is scalar quantity α = angular acceleration

Moment of inertia is the name given to rotational inertia, the rotational

analog of mass for linear motion. It appears in the relationships for the
dynamics of rotational motion. The moment of inertia must be specified
with respect to a chosen axis of rotation. For a point mass, the moment of
inertia is just the mass times the square of perpendicular distance to the
rotation axis, I = mr2
n
2
Iz = m r
∑ ii
i =1

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 PHY 210_CHAPTER 1

Moment inertia depends on the :
i) Mass of the body
ii) Shape of the body
iii) Axis of rotation

4 types shape of the body

1.  Thin rod
2.  Uniform disc
3.  Uniform cylinder
4.  Uniform sphere

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 PHY 210_CHAPTER 1
4 Types Shape of the Body
1.  Moment Inertia of a uniform THIN ROD dm O
a)  Axis through center of the rod
r
dr
Moment inertia of the element ;
2
L
I = mi ri Uniform rod with mass, M and length, L
∴ dI = r 2 dm dm : mass of the element
dr : length of the element
Moment inertia of the rod ; r : distance from element to point O
n
2
Iz = ∑m r i i
i =1

I = ∫ dI = ∫ r 2 dm
1 1
3 L )3
2

= ∫r 2
2
M
dr =
M ⎡ r ⎤ M ⎡ ( 2
⎤
− 0⎥
⎢ ⎥ = ⎢
0
L L 3
⎣ ⎦0 L ⎣ 3 ⎦
M ⎡ L3 ⎤ M L2 M L2
= ⎢ ⎥= (left side ) + (right side )
L ⎣8× 3 ⎦ 24 24
1
I = M L2
12
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 PHY 210_CHAPTER 1

b) Axis through one end of the rod

Moment inertia of the rod about O ;

O dm

L
r dr

I = ∫ dI = ∫ r 2 dm
L L 3
2 M M ⎡r3 ⎤ M ⎡ (L ) ⎤
= ∫r dr = ⎢ ⎥ = ⎢ − 0⎥
0
L L 3
⎣ ⎦0 L ⎣ 3 ⎦
1
I = M L2
3
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 PHY 210_CHAPTER 1
2) Moment Inertia of a uniform disc
* Area of the disc, A = πR2
* Choose an element of the disc in the shape
of a ring with inner radius r and outer radius ( r + dr)
* area of the ring = π (r +dr ) 2 − π r 2 O dr
r
( )
= π r 2 + 2r dr + dr 2 − π r
2

= 2π r dr − π dr 2 R
mass of the ring mass of the disc
= Uniform disc with mass, M
area of the ring area of the disc and radius, R, rotating about
dm M 2 its center.
2
= 2
[ assume that dr <<< ,∴( dr ) = 0]
2π r dr + π R π R
M × 2r dr
dm =
R2
Moment inertia of the ring about O
I = ∫ dI = ∫ r 2 dm
R
r × M × 2r dr 2M ⎡ r 4 ⎤
2
⎡ (R )2 ⎤
= ∫ 2
= 2 ⎢ ⎥ =M⎢ ⎥
R R ⎣ 4 ⎦0 ⎣ 2 ⎦
1
I = M R2
2
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 PHY 210_CHAPTER 1
3) Uniform Solid Sphere

3) Hoop or Hollow Cylinder

2
I = M r2
5

I =M r2
4) Solid Uniform Disc or Cylinder

1
I = M r2
2

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EXAMPLE:
A wheel of mass 6.0 kg and radius of 40 cm is rotating at 300 rpm. Find its
moment of inertia

from I = mk 2
2
= 6 kg ( 0.4 m )
= 0.96 kg m 2

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 PHY 210_CHAPTER 1
1.3 b)ANGULAR MOMENTUM, L and its conservation

Flash back …
linear momentum p of an object is deDined as the product of its mass m and
linear velocity v ; p = mv

Angular momentum L of a body rotating about a aixed axis is the product of the
body’s moment of Inertia I and its angular velocity ω with respect to that axis ;
L = I ω (kg m2s-1 )

Flash back …
linear momentum is an important concept in physics because the total
linear momentum of a system is conserved when the sum of the average
external forces acting on the system is zero. Then the Dinal linear
momentum Pf = the initial linear momentum Pi. or (Pf = Pi)

∴ Li =Lf
Iiωi = Ifωf
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Example:
A 2.0 kg body travels around a 3.0 m radius circle with angular velocity 5
rads-1. aind the angular momentum for that body.

L = Iω , I = mr 2
= mr 2ω
2
= 2(3) (5)
= 90 kg m 2 s −1

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 PHY 210_CHAPTER 1
Example: Object rotating on a string of changing length
A mass m attached to the end of a string revolves in a circle on a frictionless.
The other end of the string passes through a hole in the table. Initially, the
mass revolves with a speed vi = 2.4m/s in a circle of radius ri = 0.8 m. The string
is then pulled slowly through the hole so that the radius is reduced to
rf = 0.48m. What is the ainal speed, vf of the mass now?

Li =Lf
Iiωi = Ifωf

L i = L f , I = mr 2
0.8m
so mri2 ω i = mrf2 ω f
⎛ ri2 ⎞ 0.48m
ω f = ω i⎜⎜ 2 ⎟⎟ , from v = r ω
⎝ rf ⎠
⎛ ri2 ⎞ v i ⎛ ri2 ⎞ r
∴ v f = rf ω f = rf ω i⎜⎜ 2 ⎟⎟ = rf ⎜⎜ 2 ⎟⎟ = v i i = 4.0 ms −1
⎝ rf ⎠ ri ⎝ rf ⎠ rf

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 PHY 210_CHAPTER 1

ENERGY OF A ROLLING OBJECT

1.4 ROTIONAL KINETIC ENERGY (KER)

LINEAR MOTION ANGULAR MOTION

(translational kinetic energy, (rotational kinetic energy, KER)
KET)
Derivation of KET Derivation of KER
KET of the body KE = 1
T ∑2 mv 2
Angular motion v = rω

1 2
KE R = ∑ m (r ω )
2
1
= ∑ mr 2ω 2
2
1
= Iω2
2

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 PHY 210_CHAPTER 1
EXAMPLE:
A wheel of mass 6.0 kg and radius of 40 cm is rotating at 300 rpm. Find its
moment of inertia and its rotational KE.

from I = mk 2
2
= 6 kg (0.4 m )
= 0.96 kg m 2

1
from KE = Iω2 ω = 300 rev / min = 31.4 rad / s
2
1
=
2
( )
0.96 kg m 2 (31.4 rad / s )

= 0.47 kJ

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 PHY 210_CHAPTER 1
EXAMPLE:
A 500 g uniform sphere of 7 cm radius spins at 30 rev/s on an axis through its
center. Find: a) KErotational b) angular acceleration

1 2 2
a ) KEr = I ω2 , I = mr = 9.8 ×10 − 4 kg m 2
2 5
ω = 30 rev / s = 188 rad / s
1
∴ KEr =
2
( )
9.8 ×10 − 4 kg m 2 (188 rad / s )

= 0.017 kJ

b) L = Iω
( )
= 9.8 ×10 − 4 kg m 2 (188 rad / s )
= 0.18 kg m / s 2

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 PHY 210_CHAPTER 1

2) TOTAL KINETIC ENERGY (Combination between Rotation and

Translation)


For an object that move with KET and KER :
∴ Total KE = KET + KE R
1 1
= mv 2 + Iω 2
2 2

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 PHY 210_CHAPTER 1
Example:
Find the rotational kinetic energy of the earth due to its daily rotation on its
axis. Assume it to be a uniform sphere, (m = 5.98 x 1024 kg. r = 6.37 x 106m)
2
I sphere =M r2
5
2 2
(
= × 5.98 ×10 24 × 6.37 ×10 6
5
)

θ = 2π rad = 1 rev

1 day = 24 hrs × 3600 s = 86400 s

θ 2π
ω= = = 7.27 × 10 −5 rad s −1
t 86400

1
∴ KE R =
2
(
Iω 2 )
1 2
=
2
( )(
9.71 × 10 37 7.27 ×10 −5 )
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 PHY 210_CHAPTER 1

1.5 CONSERVATION OF ENERGY IN TRANSLATIONAL

AND ROTATIONAL MOTION
3 types of energy:
i) gravitational potential energy, Peg
ii) translational kinetic energy, KET
iii) rotational kinetic energy, KER
Therefore :

Energyinital = Energy final

(PE g + KET + KE R )i = (PE g + KET + KE R )f
where PE g = mgh
1 2
KET = mv
2
1
KE R = Iω 2
2

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 PHY 210_CHAPTER 1
Example:
A uniform sphere of radius r and mass m starts from rest at the top of an incline of
height h and rolls down . How fast is the sphere moving when it reaches the bottom?
(assume that it rolls smoothly and that friction energy losses are negligible)
Solution : originally, the sphere has gravitational potential energy then it is changed
to kinetic energy of translation and rotation.
(PE g
KEt + KEr ) = (PE g + KEt + KEr )
+ i f

⎛ 1 2 1 2⎞ ⎛ 1 2 1 2⎞
⎜ mgh + mu + Iω ⎟ = ⎜ mgh + mv + Iω ⎟ u = 0, ωo = 0, h f = 0
⎝ 2 2 ⎠i ⎝ 2 2 ⎠f
1 2 1 2
mghi = mv + Iω f
2 2 r
2
1 1⎛2 ⎞⎛ v ⎞
= mv 2 + ⎜ mr 2 ⎟ ⎜ ⎟
2 2⎝5 ⎠⎝ r ⎠ h
1 1
ghi = v 2 + v 2
2 5
7
= v2
10
10 ghi
vi =
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 PHY 210_CHAPTER 1
Example:
given: r = 1.5 m , mA = 0.1 kg ,
A light string, 1.5 m long, has a mass A of mB = 0.2 kg
0.1 kg attached to one end and another
mass B of 0.2 kg attached at a point .5 m 1) Δθ 2 π rad −1
from this end. The other end of the ω = = = 2 π rad s
Δt 1sec
string is attached to an axis about which
the system is rotating in a horizontal
2) L A = Iω , I = mr 2 L B = mr 2 ω
plane. If the masses in the above
diagram are rotating about the axis = mr 2 ω =1.26 kg m 2 s −1
once every second,
=1.41 kg m 2 s −1
1) What is the value of the angular
velocity? ∴ L T = LA + LB
= 2.67 kg m 2 s −1

2) What is the magnitude of the angular 3) Total moment of inertia
momentum about the axis of rotation of
each mass? Hence Rind the magnitude of L T = IT ω
the total angular momentum. LT
IT = = 0.42 kg m 2
ω
3) what is the total moment of inertia ?
4) 1
KE R = Iω 2
4) what is the total kinetic energy of 2
rotation? PERLIS
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EXAMPLE PHY 210_CHAPTER 1

A solid metal disc of mass 30 kg and radius 30 cm is to be rotated on an axle by a

mass m hanging from it string wound round its rim. What should the value of the
mass, m be if it is to accelerate the wheel at 1.88 rad/s2.
Given m = 30 kg , r = 0.3 m
from mg − T = ma
T = (mg − ma )b r=30 cm
from τ = I α = F ×r , F = T
∴ T× r = Iα
a
T×r
α =
I
T
(mg − ma )b r
=
I
I α = m b r ( g − rα ) , a = rα m2 = 10kg
= mb r g − mb r 2 α
Iα + mb r 2 α = mb r g
mg
mb r g 1
α = , I = mb r 2
I + mb r 2 2
mb r g
= , given α = 1.88 rad / s 2
1
mb r 2 + mb r 2
2
ROSYAINI_UiTM
∴ m b = 0.9 kg
PERLIS
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EXAMPLE PHY 210_CHAPTER 1

A wheel with a radius of 40 cm has a mass of 30 kg and a radius of gyration of 25 cm.

A cord wound around its rim supplies a tangential force of 1.8 N to the wheel, which
turns freely on an axle through its center.
Find the angular acceleration of the wheel.
Given r = 0.4 m , m = 30 kg , k = 0.25 m , F = T = 1.8 N rw =40 cm

k =25 cm

from I = mk 2
2
= 30 kg (0.25 )
= 1.875 kg m 2 from τ = I α = F ×r
from τ = F ×r F ×r
α = , I = mk 2
= 1.8 × 0.4 or I
F ×r
= 0.72 Nm =
mk 2
from τ = Iα
1.8 N × 0.4 m
τ 0.72 = 2
α = = 30 kg (0.25 m )
I 1.875
= 0.384 rad / s 2
= 0.384 rad / s 2

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 PHY 210_CHAPTER 1

A mass 0.4 kg hangs from the rim of a wheel of radius r = 15 cm as shown in

Figure 2. When released from rest, the mass falls 2.0 m in 6.5 s. Find the moment
of inertia of the wheel.
1
s = ut + at 2 r = 15 cm
2
1 2
2 = 0 + (a )(6.5)
2
a = 0.095 m / s 2

a = rα
a 0.095
α= = = 0.63 rad / s m = 0.4 kg
r 0.15

mg − F = ma
F = 0.4 (9.8) − 0.4 (0.095)
= 3.88 N

τ = Iα = Fr
Fr 3.88 (0.15 )
I= =
α 0.63
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= 0.92 kgm 2
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 PHY 210_CHAPTER 1

SUMMARY

Linear and Rotational Analogies

LINEAR ROTATIONAL
Force (F) Torque (τ)
Mass (m) Moment of Inertia (I)
Displacement (s) Displacement (θ)
Linear Velocity (v) Angular Velocity (ω)
Acceleration (a) Acceleration (α)

For example:
1) Linear Kinetic Energy : ½ mv2
Rotational Kinetic Energy : ½ Iω2
2) Linear Momentum : p = mv
Angular Momentum : L = Iω
3) Linear Work : W = F x s
ROSYAINI_UiTM Angular Work
PERLIS : WR = τ x θ 44