ENGI 24859 – Dynamics

Module 2: Kinematics of
Angular Motion
 Justification

• Any object like a rotor or a lever can rotate about an axis or pin
connection. As it rotates, it turns through some angle that can be
expressed in degrees, radians, or revolutions. For this reason,
rotational motion of a body is also called angular motion. Similar to
rectilinear motion, angular motion is described in terms of distance,
dis- placement, velocity, and acceleration.
• Every pump, motor, turbine, belt or chain transmission, robotic
application and electricity generation plant is an example of angular
motion.
 Outline

• Introduction
• Angular Displacement
• Angular Velocity
• Angular Acceleration
• Angular Motion with Uniform Acceleration
• Relationship between Rectilinear and Angular Motion
• Normal and Tangential Acceleration
• Summary
 Critical Learning Outcomes

Upon completion of the lesson the students will be able to:

• Solve the values of Angular Displacement, Velocity, and Acceleration using the
Three Equations of Angular Motion with Uniform Acceleration.

• Distinguish between and Calculate values of Tangential Acceleration, Normal

Acceleration and Total Acceleration.

The material presented here has been taken from Walker, K. “Applied Mechanics for Engineering Technology”, 8th Edition
Angular Motion – Real Life Applications
Angular Motion – Real Life Applications
Angular Motion – Real Life Applications
Angular Kinematics
• It is the analysis of angular movement or rotation of a body, without
considering the forces that are causing the motion. Angular motion of a
body is also called the rotational motion.
• Angular motion of a body is analyzed in terms of Displacement, Distance,
Velocity, and Acceleration exactly the way the linear motion of a body is
analyzed.

• Lets consider the motion of a lever

pivoted at A.
• The numbers (1), (2) and (3)
represent different positions (in the
at order)
Angular Displacement
• Movement of lever AB is measured in terms of
degrees or revolutions.

• The symbol used for angular displacement is θ.

• θ measured either in degrees or radians.

• Angular displacement is a vector quantity while

angular distance is scalar quantity.
Example 11.1
Problem 11.1
Angular Velocity
Angular velocity is the rate of change of angular displacement. It is
represented by the Greek letter ω.
ω = Δθ/Δt
• where ω is the average angular velocity, θ is the angular displacement, and
t is the time. The units of ω are commonly radians/sec or revolutions per
minute (rpm)
• If angular velocity is given in rpm (revolution per minute), it is converted
into radian/sec by the formula, ω = 2πn/60, where n is in revolutions per
minute.
Example 11.2
Problem 11-6
Angular Acceleration
Angular acceleration is the rate of change of angular velocity. It is represented
by α.
α= Δω/Δt

• where α is the average angular acceleration, ω is the angular velocity, and t is

the time. The units of angular acceleration are radians/sec2.
Example 11.3
Problem 11.9
Angular Motion with Uniform Acceleration

Rectilinear Angular

S = v0t+½at2 θ = ω0t+ ½ αt2

V = v0 + at ω = ω0 + αt

V2 = v02 + 2as ω2 = ω02 + 2αθ

Example 11.4
Example 11.4
Example 11.5
Example 11.5
Problem 11.23
Relation Between Rectilinear and
Angular Motion
• There are situations where rectilinear and angular
motions are combined.
• Belts, pulleys and revolving car wheels are two such
examples.
• Must be able to convert between rectilinear (s, v, a)
and angular (θ, ω, a) quantities.

S=rθ
V=rω
a=rα
Example
The average rotational speed of a modern wind turbine is between 15 and 18 rpm. If the blade
length is 60 m, calculate the lineal velocity of the tip. How high is this value compared to the speed
of sound (340 m/s in air, normal conditions)

V=ωr
Example 11.7
As shown in the figure, weight D is suspended by a rope wrapped around
pulley C. Pulleys B and C are fastened together, and pulley A is belt-driven
by pulley B. Starting from rest, weight D drops 18 m in 3 seconds. For
each pulley, determine (a) the number of revolutions, (b) the angular
velocity and (c) the angular acceleration at t= 3 sec.
Example 11.7
Example 11.7
Example 11.7
Example 11.7
Suggested Problem 11.41
Suggested Problem 11.42
Normal and Tangential Accelerations

• Tangential Acceleration = Velocity

Change (Magnitude)

• When the magnitude of the

velocity changes there is
Tangential acceleration.
• Normal Acceleration = Velocity
Change (Direction)

• When the direction of the velocity

changes there is normal
acceleration.
Tangential Acceleration

𝑎𝑎𝑡𝑡 = 𝑟𝑟𝛼𝛼
Normal Acceleration

𝑎𝑎 = 𝑎𝑎𝑡𝑡2 + 𝑎𝑎𝑛𝑛2
Example 11.9
Example 11.9

37
Example 11.10
Suggested Problems
Suggested Problems
Suggested Problem 11.43
Suggested Problem
Suggested Problem
 Summary
• Angular Velocity

ω = Δθ/Δt Rectilinear Angular

ω = 2πn/60 S = v0t+½at2 θ = ω0t+ ½ αt2

V = v0 + at ω = ω0 + αt
• Angular Acceleration: V2 = v02 + 2as ω2 = ω02 + 2αθ

α = Δω/Δt

44
 Summary
• Tangential Acceleration

𝑎𝑎𝑡𝑡 = 𝑟𝑟𝛼𝛼
• Normal/Radial acceleration

𝑣𝑣 2
𝑎𝑎𝑛𝑛 = = 𝜔𝜔2 𝑟𝑟
𝑟𝑟
• Total acceleration

𝑎𝑎 = 𝑎𝑎𝑡𝑡2 + 𝑎𝑎𝑛𝑛2