Chapter 10.

Rotational Kinematics
  Up to now, we have only considered point-
particles, i.e. we have not considered their shape
or size, only their mass 

  Also, we have only considered the motion of

point-particles – straight-line, free-fall, projectile
motion. But real objects can also tumble, twirl, …
  This subject, rotation, is what we explore in this
chapter and in Chapter 11.
  First, we begin by extending the concepts of
circular motion
   Instead of a point-particle, consider a thin disk
of radius r spinning on its axis
y
  This disk is a real object, it
r has structure
θ x   We call these kinds of
objects Rigid Bodies
  Rigid Bodies do not bend
z
Axis of twist, or flex; for example, a
rotation billiard ball
r s
θ arc length s Units of
r θ= =
s = arc length radius r radians
(rad)
 s = rθ
θ = 2 π rad
  For one complete revolution
s = 2π r = circumference
•  Conversion relation: 2π rad = 360°
•  Now consider the rotation of the disk from some
initial angle θi to a final angle θf during some time
period ti to tf
y
Δθ = θ f − θ i Angular displacement
ccw
(units of rad, ccw is +)
θf
θ f − θ i Δθ
= = ω avg θi
t f −t i Δt x
Average angular velocity
(units of rad/s) z
   Similar to instantaneous velocity, we can define
the Instantaneous Angular Velocity
Δθ
ω = lim
Δt→0 Δt
  A change in the Angular Velocity gives
ω f − ω i Δω Average Angular
= = α avg
t f − ti Δt Acceleration (rads/s2)
€
  Analogous to Instantaneous Angular Velocity, the
Instantaneous Angular Acceleration is
Δω
α = lim
Δt→0 Δt
  Actually, the Angular Velocities and Angular
Acceleration are magnitudes of vector quantities
 
ω and α
  What is their direction?
  They point along the axis of rotation with the
sign determined by the right-hand rule

Example
A fan takes 2.00 s to reach its operating angular
speed of 10.0 rev/s. What is the average angular
acceleration (rad/s2)?
Solution:
Given: tf=2.00 s, ωf=10.0 rev/s
Recognize: ti=0, ωi=0, and that ωf needs to be
converted to rad/s

rev
 2π rads  rad
ω f = 10.0 s   = 20.0π s
 1 rev 
= 62.8 rads
ω f − ω i 20.0π − 0 rad
α avg = = = 10.0π s2
t f − ti 2.00 − 0
α avg = 31.4 rad
s2
Equations of Rotational Kinematics
  Just as we have derived a set of equations to
describe ``linear’’ or ``translational’’ kinematics,
we can also obtain an analogous set of equations
for rotational motion
  Consider correlation of variables
Translational Rotational
x displacement θ
v velocity ω
a acceleration α
t time t
  Replacing each of the translational variables in
the translational kinematic equations by the
rotational variables, gives the set of rotational
kinematic equations (for constant α)
1
θ f = θ i + (ω i + ω f )(t f -t i )
2 2
1
θ f = θ i + ω i(t f -t i ) + 2 α(t f -t i )
ω f = ω i + α(t f -t i )
2 2
ω f = ω i + 2α(θ f -θ i )
  We can use these equations in the same fashion
we applied the translational kinematic equations
Example Problem
A figure skater is spinning with an angular
velocity of +15 rad/s. She then comes to a stop
over a brief period of time. During this time, her
angular displacement is +5.1 rad. Determine (a)
her average angular acceleration and (b) the time
during which she comes to rest.
Solution:
Given: θf=+5.1 rad, ωi=+15 rad/s
Infer: θi=0, ωf=0, ti=0
Find: α, tf ?
 (a) Use last kinematic equation
2 2
ω = ω + 2α (θ f − θ i )
f i
2
0 = ω i + 2αθ f
2 2
ωi (15 rad/s) rad
α =− =− = −22 s2
2θ f 2(5.1 rad)
(b) Use first kinematic equation

θ f = θ i + 12 (ω i + ω f )(t f − ti )
€ θ f = 0 + 2 (ω i + 0)(t f − 0)
1

2θ f 2(5.1 rad)
tf = = = 0.68 s
ωi 15 rad/s
Or use the third kinematic equation
ω f = ω i + α (t f − t i )
0 = ω i + αt f
ωi 15 rad/s
tf = − = − 2
= 0.68 s
α -22 rad/s
Example Problem
At the local swimming hole, a favorite trick is to run
horizontally off a cliff that is 8.3 m above the water,
tuck into a ``ball,’’ and rotate on the way down to
the water. The average angular speed of rotation is
1.6 rev/s. Ignoring air resistance,
determine the number of y
revolutions while on the yi vi ω
way down.
yf
Solution: x

Given: ωi = ωf = 1.6 rev/s, yi = 8.3 m

Also, vyi = 0, ti = 0, yf = 0
Recognize: two kinds of motion; 2D projectile
motion and rotational motion with constant angular
velocity.
Method: #revolutions = θ = ωt. Therefore, need to
find the time of the projectile motion, tf.
Consider y-component of projectile motion
since we have no information about the x-
component.
1 2
y f = yi + v yi(t f -ti ) + a y(t f -ti )
2
2 2
0 = yi − 2 gt f ⇒ yi = 2 gt f
1 1

2 yi 2(8.3 m)
tf = = = 1 . 3 s
g 9.80 sm2
θ f = θ i + 12 (ω i + ω f )(t f − ti ) = ωt f
θ f = (1.6 rev/s)(1.3 s) = 2.1 rev
 Tangential Velocity
  For one complete revolution,
ω
the angular displacement is 2π
v rad
r
θ   From Uniform Circular Motion,
the time for a complete revolution
is a period T
z
  Therefore the angular velocity (frequency) can
be written Δθ 2π
ω= = = ω (rad/s)
Δt T
  Also, the speed for an object in a circular path is

2π r Tangential speed
v= = rω = v T
T (m/s)

  The tangential speed corresponds to the speed of

a point on a rigid body, a distance r from its center,
rotating at an angular speed ω
vT
  Each point on the rigid body
rotates at the same angular
r
speed, but its tangential speed
depends on its location r
r=0
  If the angular velocity changes (ω is not
constant), then we have an angular acceleration α
•  For some point on a disk, for example
v t , i = rω i , v t , f = rω f
•  From the definition of translational acceleration
v f − vi rω f − rω i  ω f − ωi 
a= = = r  
Δt Δt  Δt 
at = rα Tangential acceleration (units of m/s2)
  Since the speed changes, this is not Uniform
Circular Motion. Also, the Tangential Acceleration is
different from the Centripetal Acceleration.
 2 2
v v t
  Recall ac = = = ar
r r
  We can find a total resultant at
acceleration a, since at and ar ar
are perpendicular
2 2
a= a +a r t
−1
φ = tan (at /ar ) z

  Previously, for the case of at
uniform circular motion, at=0

a
and a=ac=ar. The acceleration φ 
vector pointed to the center of ar
the circle.
  If at≠0, acceleration points away from the center
Example
A thin rigid rod is rotating with a constant angular
acceleration about an axis that passes
perpendicularly through one of its ends. At one
instant, the total acceleration vector (radial plus
tangential) at the other end of the rod makes a
60.0° angle with respect to the rod and has a
magnitude of 15.0 m/s2. The rod has an angular
speed of 2.00 rad/s at this instant. What is the
rod’s length?
Given: a = 15.0 m/s2, ω = 2.00 rad/s (at some
time)
 
y a 
at
φ
x 
ar
L
z 2 2
v v
t t
ar = = , at = r α = L α
r L 2
(Lω ) 2
v t = rω = Lω ⇒ ar = = Lω
2
L
ar = acos φ = Lω Solve for L
m 
acos φ (15.0 s2 )cos60.0
L= 2
= 2
= 1.88 m
ω (2.00 rads )
 Demo 8.6.2

Rolling Motion (Tires, Billiards)

vt
B
vt

A
vaxis = vcar vt
If tire is suspended,
C every point on edge
R=road has same vt

  Consider a tire traveling on a road with friction (no

skidding) between the tire and road
  First, review concept of relative velocity. What is
the velocity of B as seen by the ground?
  Point B has a velocity vt with respect to the A
  Now, A (the tire as a whole) is moving to the
right with velocity vcar
v B , A = v t , v A,G = v car
v B ,G = v B , A + v A,G , v t = v car
v B ,G = v t + v car = 2 v car
  What is velocity of C as seen by the ground?
v C , A = v t , v A,G = v car
v C ,G = v C , A + v A,G , v t = − v car
v C ,G = v t + v car = 0
Example Problem
A tire has a radius of 0.330 m, and its center moves forward
with a linear speed of 15.0 m/s. (a) What is ω of the wheel?
(b) Relative to the axle, what is vt of a point located 0.175 m
from the axle?
v t v car 15.0
ω= = = = 45.5 rad/s
r r 0.330
v t = rω = (0.175)(45.5) = 7.96 m/s