Kinematics of

Rotation
Lemuel John Sese
ljfsese@mapua.edu.ph
Angular Position

standard unit: radians

Angular Position
Angular Position

! must be in radians
Angular Displacement

! must be in radians

Convention: positive is counterclockwise

Angular Velocity

Average angular velocity

Δ$ co :
Omega
!!"# =
Δ%

(Instantaneous) angular velocity

Δ$ )$ >
-
0 : E(t) is a function of time

! = lim =
$%→' Δ% )%

Unit: radian per second (rad/s)

Angular Acceleration

Average angular acceleration

Δ! X :
alpha
*!"# =
Δ%

(Instantaneous) angular acceleration

Δ! )! w(H) is function of to
* = lim = w : a

$%→' Δ% )%

Unit: radian per second squared (rad/s2)

Rotational Motion

Δ$ d$
!+,- = !=
Δ% d%
Δ! d!
&+,- = &=
Δ% d%
#" #"

!! − !" = $ % &' %! − %" = $ ( &'

#! #!
 Angular velocity and angular acceleration are
vectors; they have directions.

% direction: Right-hand rule

(⃗ direction: speeding up or slowing down
! and " Directions

! direction: Right-hand rule

*⃗ direction: speeding up or slowing down
Rotational Kinematics
Valid only when is #⃗ constant : constant angular
acceleration

! = !/ + &%
1 0
$ = $/ + !/ % + &%
2
0 0
! = !/ + 2&($ − $/ )
$ − $/ 1
= (!/ + !)
% − %/ 2
Example 1
A grindstone rotates at constant angular acceleration of 0.35 rad/s !. At time
+ = 0, it has an angular velocity of −4.6 rad/s and a radial line on it is
constant :
horizontal, at the angular position 0" = 0.
W Wo + Lt
-
=

(a) At what time is the radial line at angular position 0 = 5.0 rev?
= Wot +at
(b) At what time + does the grindstone momentarily stop?
we Wo +
= 200

(a)
0 = 5 0 rey
.
-EE W ..

= =

(2π rad/) · 5 ev
-! not + Exte
10 rad
2

z(0 3+
E
( 4 6) + +
=

10T = -
.

rad/s
.

Wo = -

46 .

& (0 35) +
"
4 6t 10T
rad/st 0
-
-
=

0 35
. .

x =
.

t = 31 91S
.
Eo-Orad .
t↓ =
31 915 or
.
s

(stop) (- 4 Grad/s)
(bw 0 rad/s Wo xt t=
.

= = -
-

= Not ht - t =
- 0 35 .
rad/s ?

X
t = 13 .
14S
/
Example 2
The angular velocity of a rotating turntable is given in rad/s by 3 + = 4.5 +
0.64+ − 2.7+ !. At + = 0, 0 = 0.
(a) What is the angular position, angular velocity and angular acceleration
at + = 2.0 s?
(b) What is its average angular velocity and angular acceleration between
+ = 1.0 s and + = 3.0 s?

60
05
64(2) 7(2)
2
(9) w(t 0s)
.

= Er 45 + 0 2
+ 2
- = = = -
. .
. .

w(t 2) 5 02
rad/s
2 =
= -

I
.

71
8 4 5t
04
-
0 =
+ 2
+ 2
.
-
.

3
.

= =
4 .

5(2) +
64(2) -
2 .

7
x =

a = 0 .
64 -2 .
7(2)t

5 45
= 0 . 64 -
.

t 3 08 rad 4(2)
(t 2) 5
=

64
.

x =
= 0
.
-
.

x (t 2)
= = -
10 16 .

rad/s2
Example 2
The angular velocity of a rotating turntable is given in rad/s by 3 + = 4.5 +
0.64+ − 2.7+ !. At + = 0, 0 = 0.
(a) What is the angular position, angular velocity and angular acceleration
at + = 2.0 s?
(b) What is its average angular velocity and angular acceleration between
+ = 1.0 s and + = 3.0 s?

(b) At =
3 . 05 -
1 05
.
-(H) =
4 . 5t +
0647 2
-

At =
2 05 .

... is
i
Wave =

At

At
Rotation of Rigid Body

Rigid body is an idealization of a solid body of

finite size in which deformation is neglected.
The distance between any two given points of
a rigid body remains constant in time regardless
of external forces exerted on it.

↑
tangential velocity

! must be in radians
Uniform Circular Motion

A circular motion with constant speed, $.

Circular Motion – when the path taken by a moving object/particle has a
constant distance from a point. The distance is called the radius % of the
circular path.
Uniform Circular Motion ri =
vf = r

Vi y
0f
= =

Erl -

r
j

v
2

Centripetal Acceleration :
-
ac = : tungential speed 1 =

↑
-

r: radius
center seeking
82
>
-

Ac = a =
-

A
ac
=
At
centripetal acceleration
= r At

= ↳ ~ Itangential speed)
Uniform Circular Motion

this acceleration is
>
-
centripetal/radial acceleration :
Ac due to the changes
Ho
= in the direction of
Cowards the The magnitude : Ac
J

tangential
↑

center)
the direction : towards the center/ your
Axis of rotation
velocity .

II
In terms of angular velocity : Since y = vor
In terms of period :
: Stangential velocity : constant)
(wr)
Ac =

r
= wer
W : constant ac =
() = N
r

4 N
W
2 T period
(the time to makea Ac =
+
= :
T2
Uniform Circular Motion

(the amount of unit time)

frequency :
cycle per

= = fi c
= =

In terms of frequency :

Ac = 42f2 r
II
Example 3
A ball of mass 8 = 0.1 kg rotates in a
circular path of radius ; = 0.2 m with an FBD : ball
angular speed 3 = 8 rad/s while being E the ball moves
/=o
radis

to
attached to two strings of equal length, T

each making an angle 0 = 30# with a ↳ T

! -uniform
a
vertical rod as shown in the figure. Find circular motion

=
the magnitude of the tension in the two

- centripetal
strings. ↳ acceleration .

Tzy = mac
I
&
E Y

I
Fu = -

Mac
<
Ac
-
Tix-Tx =
-Mac

↳ =

my
-

Tsine - Tsino =
-m
Fy =
O vi tangential speed
r
T , COS-T2COso-mg =
0 v =

T, Cost-T2COSE =
Mg
Example 3
A ball of mass 8 = 0.1 kg rotates in a
(rw)
=
circular path of radius ; = 0.2 m with an j2 rw2
angular speed 3 = 8 rad/s while being -

p
=
-
attached to two strings of equal length,
each making an angle 0 = 30# with a
vertical rod as shown in the figure. Find ↑, sing + resino = mrwa r = 0 2 m
.

the magnitude of the tension in the two w =

8 rad/s
strings. T I COSE-T2 COSO =

mg
m = 0 .
1
kg
8 = 300
I

T1 =
1 85.
N

Tz = 0 76.
N

I
Example 4 (a)
UCM is the assumption ,
↑

md law
then Newton's
The turns at the Daytona International
speedway have a maximum radius of of motion will be
FY
e

316 m and are banked at 31#. At what .

applied tant-
maximum speed would the cars have to FBD car (no friction)
: 90-
............
- I
<
T
-
E
......
10
COSE
F
FNSING
travel around them if (a) the cars will not
=

:
-

a
gtant =M
E
have to rely on friction, (b) the coefficient - = En
-
co COS

b
.
-
- . ..
... . . . . .

of friction between the road and car Fg

wheels are averagely 0.40?
gtane =
- Given :
F ma
-

Ms =
0 .
40 ·

r= 316M

n
stand
8 = 310 Fa = -
Ensio = - m-

0.40eel
Ms
102
=

ENSING

Iannifon
=

(norma Assumption : a
agtant
>
-

a FN

I-
7
It is moving

↓ Eg (weight) circular motion Fr Cost-mg = 0

u = A tade
E = 310

Centripetal Acceleration : tant u =

j
36)(9 8) tan 3/ 0

=
.

/9
M 02
9a =
12 -

COSE
sing =
,
mo v = 43 .
14 M/s
I
Example 4 (b) Maximum speed if there
is a static friction
The turns at the Daytona International

&
speedway have a maximum radius of Assumption : Uniform circular FM =
my

316 m and are banked at 31#. At what motion COSE-MSSING

maximum speed would the cars have to There is a centripetal substitute Fr to (1)
travel around them if (a) the cars will not -
acceleration- Fusio MsFMCOSE =

have to rely on friction, (b) the coefficient

- -

- -

12 12
of friction between the road and car ac =
Fr (sine + MSCOS) =

↑
r

wheels are averagely 0.40?

/
my
(sinMscos) =
Cost-Mosine
↳ It implies also that
(sing +Ms costl
there is an unbalanced 02 =
9)
↑ COSE-MsSinE
net force
.

gr (sing +MSCOs)
My
>
-

90 skid (impendingon) FBD : car

x
U =

Cos-Mssine
< >
..
-

-j I n =
(1)(ins of los
·
& e

-
-
.......

Cstatio friction)
-
EN SINE

F =
-Fusing -- > Cost
=
-Mac
v =
63 .
88m/s
/
fs & Ms Fr
In Cost
-ma(A)
-
=

Maximum will happen

We don't know FN

equal
sign) Fm (COSE-Mssino) - mg
if it is = COS > Sino-Fg 0 0

- Fr (COSE-Mssinf)
=
-
=

FNCOSE-MsEnsino-mg = 0 =
my
Tangential and Radial Acceleration
entripetal
Total Acceleration:

1⃗ = 1⃗% + 1⃗(

1= 1%) + 1()

(tangential acceleration)
at = rx

acceleration
x :
angular
UE (radial acceleration)
Ap =
-

Ut : tangential velocity
Example 5
A grindstone of radius ; = 2 m rotates with an angular position 0 = + $ +
2+ ! − 2, where 0 is in radians and + is in seconds.
(a) Find 3 and > as a function of time and their values at + = 2 s.
(b) Find the speed ? and the components of the acceleration @ at + = 2 s
for a point on the rim of the grindstone

& do
F
= 3t + 2 =

WCH = 6

w flt
(b) rw( 2) do

S 7
v = = =

= 2

tangential acceleration :
centripetal acceleration :

ra
a+ rx(+ 2)
= =

= W2
=

2 rw2 2
As
= =
= - =

r H

ac = rw( (t =
2) =

r(z) ↳ au =
le
I