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 10.1 Angular Position, velocity and acceleration

Rigid Object

A rigid object is one that is non deformable that is, the relative posed
remains constant.

Rotation

When a disc rotates about a fixed axis with an angle , it moves along an
arc s where s = r and is measured by radians.

We can convert between degrees and radians using:

(rad) = (/180) (degree)

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 10.1 Angular Position, velocity and acceleration

Angular Displacement

As a result of rotation the point at position p1 moves to position p2.

The angular displacement is expressed by

= 2 1

Angular Speed

The angular speed w is the ratio of the angular displacement to the time
interval and has the units of (s-1).

w = / t
w = d/dt
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 10.1 Angular Position, velocity and acceleration

Angular Acceleration

The angular acceleration is the change of angular velocity in time.

= w/ t
= dw/ dt

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 10.2 Rotational Kinematics

The equations of rotational motion are

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 10.3 The Relation Between Linear and Rotational

There is a relation between linear and rotational quantities.

Angular velocity and Tangential velocity

Every point on the rotating object moves in the same direction and travels
the same distance s which means its velocity is

v = ds/dt
But s = r
Which means that

v = d(r)/dt = r d/dt
v = rw

Which means that all points of the object have the same angular speed but different
tangential speed because they have different distances from the center of the object.

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 10.3 The Relation Between Linear and Rotational

Angular acceleration and Linear Acceleration

The tangential acceleration of any point is resulted from change in

tangential velocity.

at = dv/dt = d(rw)/dt = r dw/dt

at = r

Where the rotational acceleration is the result from changing the direction of the
velocity with time.

ar = v2/r = r2w2/r
ar = rw2
The total acceleration
a = (at2 + ar2)1/2 = (r 2 2 + r 2 w4 )1/2 = r(2 + w4 )1/2

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 10.4 Rotational Kinetic Energy

The kinetic energy of the ith particle of the rigid object

KEi = (1/2)mivi2

The total kinetic energy of the object

KE = iKEi

The moment of inertia I is

I = imiri2

Which means
KE = iKEi = i (1/2)mivi2 = i (1/2) miri2wi2 = i (1/2)Iwi2

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 10.5 Moment of Inertia

The moment of inertia of an object can be found by dividing the object into
small elements each of mass m then taking the limit where m
approaches zero.

I = limm0imiri2 = r2dm

Uniform Thin Ring

The ring is thin we could neglect the thickness which means that all
elements have the same distance from the axis.

I = r2dm = R2 dm = MR2

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 10.5 Moment of Inertia

Long Thin Rod Rotating about an axis passing through the center

The mass dm is related to the mass per unit length

dm = dx = (M/L)dx
I = r2dm = (1/12)ML2

Long Thin Rod Rotating about an axis passing through the end

I = r2dm = (1/3)ML2

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10.5 Moment of Inertia

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 10.6 Torque

Torque, also called moment or moment of force is the tendency of a force to

rotate an object about an axis. Just as a force is a push or a pull, a torque
can be thought of as a twist.

A torque is a force exerted at a distance from the axis of rotation; the

easiest way to think of torque is to consider a door. When you open a door,
where do you push?

If you exert a force at the hinge, the door will not move; the easiest way to
open a door is to exert a force on the side of the door opposite the hinge,
and to push or pull with a force perpendicular to the door. This maximizes
the torque you exert.

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 10.6 Torque

Torque is the product of the distance from the point of rotation to where
the force is applied multiplied by the force multiplied by the sine of the
angle between the line you measure distance along and the line of the
force.

= r F sin

The unit of torque is N.m.

If an object is under multiple torques then the net torque is the summation
of all torques.

= i i

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 10.6 Rigid Object under Torque

If a particle of mass m rotating in a circle of radius r under the influence of a

tangential force Ft and a radial force Fr. The tangential force provides a tangential
acceleration a

Ft = mat

The torque about the center of the circle

= rFt = rmat = rmr = mr2 = I

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 10.7 Work and Energy in Rotational Motion

The work done on an object that is under a translational and rotational motion is
given by the change in both translation kinetic energy and the rotational kinetic
energy.

W = KEt + KEr = [(1/2)mvf2 (1/2)mvi2] + [(1/2)Iwf2 (1/2)Iwi2]

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 Examples

-A disc rotates at 1200 rev/min about its central axis. What is the linear speed of a
point 3.0 cm from its center?

= 1200 x 2 = 7536 rad

= 7536 / 60 = 125.6 rad/s
vt = 3.768 m/s

-During a certain period of time, the angular position of a swinging door is described
by = 5.00 + 10.0 t + 2.00 t, where is in radians and t is in seconds. Determine
the angular position, angular speed, and angular acceleration of the door (a) at t = 0
and (b) t = 3.00 s.

= 10 + 4 t =4
At t = 0 then = 5 , = 10 , = 4
At t = 3 then = 53 , = 22 , = 4

-A racing car travels on a circular track of radius 250 m.

If the car moves with a constant linear speed of 45.0 m/s,
find (a) its angular speed and (b) the magnitude of its acceleration.

= 0.18 rad/s , at = 0 , ar = 8.1 17

Total acceleration a = 8.1
 Examples

-A bicycle travels 141 m along a circular track of radius 15 m. What is the angular
displacement in radians of the bicycle from its starting position?
= s / r = 9.4 rad

- A grindstone, originally rotating at 126 rad/s undergoes a constant angular

acceleration so that it makes 20.0 rev in the first 8.00 s. What is its angular
acceleration?
= 125.6 rad , = it + (1/2) t2
= 2.50 rad/ s2

- A ball attached to a string starts at rest and undergoes a constant angular

acceleration as it travels in a horizontal circle of radius 0.30 m. After 0.65 sec, the
angular speed of the ball is 9.7 rad/s, what is the tangential acceleration of the ball?
i = 0 , f = 9.7 rad/s , t = 0.65 s , f = i + t , = 14.9 rad/ s2
a = 4.97 m/s2

- Two motorcycles are riding around a circular track at the same angular velocity.
One motorcycle is at a radius of 15 m; and the second is at a radius of 18 m. What is
the ratio of their linear speeds, v2/v1?
1 = 2 , v1 r1 = v2 r2
v1 15 = v2 18 , v2 /v1 = 1.2 21
 Examples

- A 100 cm meter rule is pivoted at its middle point (that is, at the 50 cm point). If a
weight of 10 N is hanged from the 30 cm mark and a weight of 20 N is hanged from
its 60 cm mark, find out whether the meter rule will remain balanced about its pivot
or not?

-The net torque on the pulley about the axle is the

torque due to the 30 N force plus the torque due to
the 20 N force

-Find the total torque at point A then B

-Find the total torque at point p

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 Questions

A propeller (arm length 1.2 m) starts from rest and begins to rotate
counterclockwise with a constant angular acceleration of size 2.7 rad/s2.
a. How long does it take for the propeller's angular speed to reach 5.7 rad/s?
b. How many revolutions does it take for the propeller's angular speed to reach 5.7
rad/s?
c. What is the linear speed of the tip of the propeller at 5.7 rad/s?
d. What is the linear, rotational and total acceleration of the tip of the propeller at
this point?

An airplane propeller is rotating at 1900 rev/min.

a. Compute the propeller's angular velocity in rad/s.
b. How long in seconds does it take for the propeller to turn through 30 degrees?

A 500 N rock rests on an 8.0-m-long board that weighs 100 N. The board is
supported at each end. The support force at the right end is 3 times the support
force at the left end. How far from the right end is the rock standing?

A uniform horizontal beam 6.0 m long and weighing 4 kg is supported at points p

and q each 1.0 m from opposite ends of the beam. Masses of 10 kg and 8 kg 18
are placed near p and q respectively, one on each end of the beam.
Calculate the reaction forces at p and q.
 Questions

A spot of paint on a tire moves in a circular path of radius 0.42 m. Through what
angle must the tire rotate for the spot to travel 1.48 m?

A disk with a 1.0-m radius reaches a maximum angular speed of 18 rad/s before it
stops 35 revolutions (220 rad) after attaining the maximum speed. how long did it
take the disk to stop?

How many revolutions does a disc make in in 5.44 seconds accelerating from 0 to
7.598 thousand rpm?

Two 0.51 kg cartons are at one end of a bin that is 0.69 m long. Where should a
1.8 kg carton be placed so that the center of mass of the three cartons is at the
center of the bin?
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 Questions

If A = 3N, determine the weight of B,C,D,E, and F

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