2 ANGULAR MOTION

2.1 Equations ofAngular Motion

If a rotating body accelerates uniformly from w 1 rad/s to w 2 rad/s in timet s,
the acceleration being a: rad/s 2 and the angle turned through being e rad, then,
by analogy with the equations for linear motion,
w2 = w 1 +at (I)
e = W1 t + tO:t 2 (2)
and w 22 = w1 2 + 2ae (3)
The velocity-time graph is shown in Figure 2.1.
If N 1 and N 2 are the corresponding speeds in rev/min, then
27T 27T
w 1 = 60 N1 and w 2 = 60 N2

Area ='Ongle
turned through

Time
Figure 2.1 Figure 2.2

2.2 Relationship between Linear and Angular Motion

Let a particle move from A to B along a circular path of radius r, Figure 2.2.
'then distance moved, s = re
Differentiating this expression with respect to time,
ds de
dt =r dt
But ds/dt is the linear velocity, v, of the particle, and de /dt is the angular
velocity, w, of the line OA,
:. v = wr

R. C. Stephens et al., Applied Mechanics 17

© R. C. Stephens and J. J. Ward 1972
18 APPLIED MECHANICS

Differentiating again with respect to time,

dv/dt = r dw/dt
But dv/dt is the linear acceleration,[, of the particle, and dw/dt is the angular
acceleration, a, of the line OA,
:.f = ar
EXAMPLE. A train starting from rest attains a speed of 100 km/h in 2 min, the acceleration
being uniform. The driving wheels are 2 m in diameter.
Find: (a) the linear acceleration of the train, (b) the angular acceleration of the wheels,
(c) the angular velocity of the wheels after 30 s, (d) the number of revolutions made in the
first 30 s.
(a) v=u+ft
100 X 10 3
that is i.e.
3600
=0 + 120,,# :.f= 0·231 m/s2
(b) f=ar
f 0·231
a=-=-- = 0·231 rad/s 2
r 1
25 X 10 3
(c) After 30 s, velocity of train=--- = 6·94 m/s 2
3600
I' 6·94
.. w=-=-- = 6·94 rad/s
r 1
(d) 9 = w, t +tO<t 2
= 0+{ X 0·231 X 30 2
= 104 rad = 16·5 rev

2.3 Work done by a Torque

Consider a force P acting on a body moving in a circular path of radius R,
Figure 2.3. When the radius OA has moved through an angle e to OB,
then distance moved by P = R(J
:. work done by P = P x R(J
but P x R is the torque, T,
:. work done = TO
If the body rotates about 0 at N rev/min
then angle turned through/min == 2rrN rad
:. work done/min = T x 2rrN
. m
If T ts . Nm, t hen power= T x 2rrN W
60

EXAMPLE. In a test on a petrol engine, running at 1 000 rev/min, the net load on the brake
arm was 180 Nat a radius of 450 mm Find the power developed by the engine and the rise
in temperature of the brake cooling water, which was supplied at a rate of 9 1/min.
(1 cal = 4·2 J).
Work done/sec = torque x angle turned through/sec
= 180 X 0·45 X (2rr/60) X 1 000
that is power= 8·480 W
= 8·48 kW