The following table is a tool that can be used to help you remember how everything in rotational motion is completely

analagous to linear
motion. Most people pick up on linear kinematics much easier than they do rotational kinematics. If you can't remember a particular equation
for rotational kinematics, just think about what the linear equation looks like, and replace all of the linear quantities with angular quantities. In
this table, the symbol R represents a given radius, or the distance from the point of interest to the point of rotation. All the other variables are
discussed in the table itself.

Rotational Linear to Rotational to

Linear Quantities Symbol Units Symbol Units
Quantities Rotational Linear
Angular ϑ
Displacement x or r m ϑ rad ϑ = 𝑥𝑥𝑥𝑥 𝑥𝑥 =
Displacement 𝑅𝑅
Angular ω
Velocity v m/s ω rad/s ω = 𝑣𝑣𝑣𝑣 𝑣𝑣 =
Velocity 𝑅𝑅
Angular α
Acceleration a m/s2 α rad/s
2 α = 𝑎𝑎𝑎𝑎 𝑎𝑎 =
Acceleration 𝑅𝑅
2 2 2 𝝉𝝉 = 𝑹𝑹 × 𝑭𝑭∗∗ 𝜏𝜏
Force F N, or kg*m/s Torque τ N*m, or kg*m /s 𝐹𝐹 =
𝜏𝜏 = 𝐹𝐹𝐹𝐹 sin θ𝐹𝐹𝐹𝐹 𝑅𝑅
Moment of ∗ 𝐼𝐼 ∗
Mass m kg I kg*m
2 𝐼𝐼 = 𝑚𝑚𝑅𝑅 2 𝑚𝑚 = 2
Inertia 𝑅𝑅
Angular 2 2
𝑳𝑳 = 𝑹𝑹 × 𝒑𝒑∗∗ 𝐿𝐿
Momentum p kg*m/s L kg*m /s 𝑝𝑝 =
Momentum 𝐿𝐿 = 𝑅𝑅𝑅𝑅 sin θ𝑅𝑅𝑅𝑅 𝑅𝑅 sin θ𝑅𝑅𝑅𝑅

* This relation should be taken with a grain of salt, as it is for a single point mass . The more important relationship to remember is this:
𝐼𝐼 = � 𝑅𝑅 2 𝑑𝑑𝑑𝑑 𝑂𝑂𝑂𝑂 𝐼𝐼 = � 𝑅𝑅 2 𝑚𝑚

** For angular momentum and torque, this relationship is more important than the other ones provided. It is important to remember that
momentum and position are vectors, and that angular momentum is perpendicular to both of them. This definition can also be loosely applied
to displacement, velocity, and acceleration, but most applications with this definition occur in instances involving force and momentum.

Analogous Equations
Linear Rotational Linear Rotational Linear Rotational
𝐹𝐹 = 𝑚𝑚𝑚𝑚 𝜏𝜏 = 𝐼𝐼α 𝑣𝑣 = 𝑣𝑣0 + 𝑎𝑎𝑎𝑎 𝜔𝜔 = 𝜔𝜔0 + 𝛼𝛼𝑡𝑡 𝑝𝑝 =mv 𝐿𝐿 = 𝐼𝐼ω
1 1 1 2 1 2 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑
𝐾𝐾𝐾𝐾𝑙𝑙𝑙𝑙𝑙𝑙 = 𝑚𝑚𝑣𝑣 2 𝐾𝐾𝐾𝐾𝑟𝑟𝑟𝑟𝑟𝑟 = 𝐼𝐼𝜔𝜔2 𝑥𝑥 = 𝑥𝑥0 + 𝑣𝑣0 𝑡𝑡 + 𝑎𝑎𝑡𝑡 𝜃𝜃 = 𝜃𝜃0 + 𝜔𝜔0 𝑡𝑡 + 𝛼𝛼𝑡𝑡 𝐹𝐹 = 𝜏𝜏 =
2 2 2 2 𝑑𝑑𝑑𝑑 𝑑𝑑𝑑𝑑