Rotation involves angles

Polar coordinates are more natural

y
 x, y 

r s

O x
arc length = radius  angular displacement

s  r
one revolution  2π radians
 360 degrees
1 radian  57.3 0

1 radian  0.159 revolution

s  2 r = total circumference
 P at t2
r  P at t1
2 r
A 1
 2  1 
 
t2  t1 t

  lim
t 0 t

d
 Angular speed !
dt
 
2

 0
3
2
 2

T
2
second   0.105 rad / s
60
2
minute  3
 1.75 10 rad / s
60  60
2
hour  4
 1.45 10 rad / s
60  60  12
 Our sun is 2.3 x 104 light years away
from the centre of our Milky Way
galaxy. It moves in a circle around
this centre at 250 km/s.
(a)How long does it take the sun to
make one revolution about the
galactic center?
(b)How many revolutions has the sun
completed since it was formed about
4.5 x 109 years ago?
a) 1 Light Year  9.46 10 m
15

 2
v  R  R  R
t T
2 R
 for one revolution T 
v
T  5.5 1015 s  1.74 108 years

4.5  10 9
b)  26 revolutions
1.74 10 8
 2  1 
 
t2  t1 t

  lim
t 0 t

d  d d d  2
   2
dt dt dt dt
Angular acceleration !
 s  r
ds d
r
dt dt
v  r
dv d
r
dt dt
a T  r
 aT

Tangential
acceleration
Relationship between
linear and angular
variables
Translational Motion Rotational Motion

v  v0  a t   0   t
1 2 1 2
x  x0  v0 t  a t   0  0 t   t
2 2
v  v 0  2a  x  x0    0  2    0 
2 2 2 2
A point on the rim of a 0.75-m diameter
grinding wheel changes speed from 12
m/s to 25 m/s in 6.2 s. What is the angular
acceleration during this interval?

v f  vi
a  2.1 m/s 2

t
a  r
a
   5.6 rad/s 2

r
 The angular speed of a car engine is
increased from 1170 rev/min to 2880
rev/min in 12.6 s.
(a)Find the average angular acceleration
in rev/ min2.
(b) How many revolutions does the engine
make during this time?
 f  i
  8140 rev/min 2
t
1 2
  i t   t  425 rev
2
 A diver makes 2.5
complete revolutions
on the way from a
10-m platform to the
water below.
10m Assuming zero initial
vertical velocity,
calculate the average
angular velocity.
 1 2
h  gt
2
2h
t  1.43 s
g


t
2  2.5
  11 rad/s
1.43
 rA rC

A B C
Wheel A of radius rA = 10.0 cm is coupled
by a chain B to wheel C of radius rC = 25.0
cm. Wheel A increases its angular speed
from rest at a uniform rate of 1.60 rad/s 2.
Determine the time for wheel C to reach a
rotational speed of 100 rev/min.

rA rC

A B C
v A  vC  rA A  rC C
rC C
A 
rA
A  0

t
 A rCC
t   16.4 s
 rA
Rotation with constant
angular acceleration
All particles will have same '  '
and ' ' but different 'v ' and 'a'

'  ' and ' ' are simpler choices !!

 Centripetal
acceleration
 Uniform circular motion

v2 v 2  v1
P2 v1
r v1
 v2
C r P1
 
v1  v 2  v
 P
aR

Radial
r  vt  r


r r

r
v  v


v v

v
v  v
v v v 2
a  
t r / v r
v v 2
a  lim 
t 0 t r
 2
v 
aR   r
r
direction is radially inward !!
 P
aR

Radial
Tangential aT
a
P
aR

Radial
a T  r
2
v
aR   r 2

r
The Moon revolves about the Earth, making
a complete revolution in 27.3 days. Assume
that the orbit is circular and has a radius of
238,000 miles. What is the magnitude of the
acceleration of the Moon towards the Earth?
 M

r
E
r  238, 000 mi  3.28 10 m
8

2 r
v  1018 m / s
T
2
v
a  0.00271 m / s 2

r
4
 2.76 10 g
2
(where g=9.81 m/sec )
Calculate the speed of an Earth satellite that
it is traveling at an altitude h of 210 km
where g = 9.2 m/s2. The radius R of the
Earth is 6370 km.
 S
h

E
 2
v
a
r
a  g and r  R  h
2
v
g
Rh
v  R  h  g  7780 m / s
Vector Cross
Products
  
A B


B



A
Cross product (vector product)
is defined as,
 
A  B  AB sin  nˆ
nˆ is perpendicular to AB-plane
i

  
i j  k
  
k i  j
  
j k  i
 Important properties
   
A B  B  A
 
A A  0
     
      
A  B  C  A B  A C
 iˆ ˆj kˆ
 
A  B  Ax Ay Az
Bx By Bz

 ( Ay Bz  Az By ) iˆ  ( Az Bx  Ax Bz ) ˆj
 ( Ax By  Ay Bx ) kˆ