Chapter 7

Rotational Motion
Terminology and symbols
Linear motion Rotational motion
Displacement (X)
m
Angular
displacement ()
rad
Velocity (v)
m/s
Angular velocity ()
rad/s
Acceleration (a)
m/s
2

Angular acceleration
()
rad/s
2

Radians
The radian is a
unit of angular
measure
The radian can be
defined as the arc
length s along a
circle divided by
the radius r


s
r
u =
Radians
Comparing degrees and radians


Converting from degrees to
radians

=
t

= 3 . 57
2
360
rad 1
] rees [deg
180
] rad [ u

t
= u
Angular Displacement
Axis of rotation is
the center of the
disk
Need a fixed
reference line
During time t, the
reference line
moves through
angle
Angular Displacement
The unit of angular
displacement is the
radian
Each point on the
object undergoes the
same angular
displacement
f i
u u u A =

Average Angular Speed
The average angular
speed, , of a
rotating rigid object
is the ratio of the
angular displacement
to the time interval

f i
av
f i
t t t
u u u
e
A
= =
A

Angular Speed
Units of angular speed are radians/sec
rad/s
Speed will be positive if is increasing
(counterclockwise)
Speed will be negative if is decreasing
(clockwise)

Example
The rotor on a helicopter turns at an
angular speed of 3.20 x 10
2
revolutions
per minutes (rpm). Express this angular
speed in radians per second.

Solution :

= 320 rev 2 rad 1 min
min 1 rev 60 s
= 33.5 rad/s
Example
A waterwheel turns at 1500 revolution per
hour. Express this figure in radians per
second.

Solution :

= 1500 rev 2 rad 1 h
h 1 rev 3600 s
= 2.6 rad/s
Quick Quiz
A rigid body is rotating counterclockwise
above a fixed axis. Each of the following
pairs of quantities represents an initial
1
angular position and final angular position
2
of the rigid body. Which of the sets can
occur only if the rigid body rotates through
more than 180
o
?

a) 3 rad, 6 rad
b) -1 rad, 1 rad
c) 1 rad, 5 rad

Ans : c
= 3 rad =172
o

= 2 rad =115
o

= 4 rad =229
o

Quick Quiz
Suppose that the change in angular
position for each of the pairs values in
previous problems occurred in 1s.
Which one represents the lowest
average angular speed?

a) 3 rad, 6 rad
b) -1 rad, 1 rad
c) 1 rad, 5 rad
= /t =3/1 = 3 rad/s
= /t =2/1 = 2 rad/s
= /t =4/1 = 4 rad/s
Ans : b
Average Angular
Acceleration
The average angular acceleration
of an object is defined as the ratio
of the change in the angular speed
to the time it takes for the object
to undergo the change:

o
f i
av
f i
t t t
e e e
o
A
= =
A
Angular Acceleration
Units of angular acceleration are rad/s
Positive angular accelerations are in the
counterclockwise direction and negative
accelerations are in the clockwise direction
When a rigid object rotates about a fixed
axis, every portion of the object has the
same angular speed and the same angular
acceleration
Analogies Between Linear
and Rotational Motion
Example
A wheel rotates with a constant angular
acceleration of 3.50 rad/s
2
. If the angular
speed of the wheel is 2.00 rad/s at t=0,

a) Through what angle does the wheel
rotate between t=0 and t=2s? Give your
answer in radians and in revolution.
b) What is the angular speed of the wheel
at t=2s?
Solution
Given : =3.50rad/s,
i
=2rad/s, t=2s
a) =
i
t+ t
2

= 2(2) + (3.5)(2)
2

= 11 rad
= 11 rad 1 rev
2 rad
= 1.75 rev
b)
f
=
i
+

t
= 2 + (3.5)(2)
= 9 rad/s

f
2
=
i
2
+ 2
= 4 + (2)(3.5)(11)

f
= 9 rad/s
Relationship Between Angular
and Linear Quantities
Displacements

Speeds

Accelerations
Every point on
the rotating
object has the
same angular
motion
Every point on
the rotating
object does not
have the same
linear motion
r s u =
t
v r e =
t
a r o =
Relationship Between Angular
and Linear Quantities
t
v r e =
r s u =
t
a r o =
Linear
quantities
Angular
quantities
v
t

v
t
= v a
t
= a
Tangential
component
Linear
component
Quick Quiz
Andrea and James are riding on a merry-go-
round. Andrea rides on a horse at the outer
rim of the circular platform, twice as far from
the center of the circular platform as James,
who rides on an inner horse. When the merry-
go-round is rotating at a constant angular
speed, Andreas angular speed is

a) Twice Jamess
b) The same as James
c) Half of Jamess
d) Impossible to determine
Ans : b
Quick Quiz
When the merry-go-round in the
previous is rotating at a constant
angular speed. Andreas tangential
speed is :

a)Twice Jamess
b)The same as Jamess
c)Half of Jamess
d)Impossible to determine
Jamess : v
t
= r
Andreas : v
t
= 2r
Ans : a
Example
A compact disc rotates from rest up to an angular
speed of 31.4 rad/s in a time of 0.892s.

a)What is the angular acceleration of the disc?
Assuming the angular acceleration is uniform.
b)Through what angle does the disc turn while
coming up to that speed?
c)If the radius of the disc is 4.45cm, find the final
tangential speed of a microbe riding on the rim of
the disc.
d)What is the magnitude of the tangential
acceleration of the microbe at the given time?
Solution
Given
i
=0,
f
=31.4 rad/s, t=0.892 s
a)
f
=
i
+ t
31.4 = 0 + (0.892)
= 35.2 rad/s
2

b) =
i
t + t
2
= 0 + (35.2)(0.892)
2

= 14 rad
Solution
c) Given r = 4.45 cm = 0.0445 m
v
t
= r = r
t

= 0.0445(31.4)
= 1.4 m/s
d) a
t
= r
= 0.0445(35.2)
= 1.57 m/s
2

Example
From the previous question :
a) What are the angular speed and
angular displacement of the disc 0.3 s
after it begins to rotate?

b) Find the tangential speed at the rim at
this time.
Solution
Given
i
= 0, t = 0.3 s, = 35.2 rad/s
2

a)
i
=
f
+ t
= 0 + 35.2(0.3)
= 10.6 rad/s
=
i
t + t
2
= 0 + (35.2)(0.3)
2
= 1.58 rad
b) v
t
= r
= 0.0445(10.6)
= 0.472 m/s
Vector Nature of Angular
Quantities
Angular displacement,
velocity and
acceleration are all
vector quantities
Direction can be more
completely defined by
using the right hand
rule
Grasp the axis of rotation
with your right hand
Wrap your fingers in the
direction of rotation
Your thumb points in the
direction of
Velocity Directions,
Example
In (a), the disk
rotates clockwise,
the velocity is into
the page
In (b), the disk
rotates
counterclockwise,
the velocity is out
of the page
Acceleration Directions
If the angular acceleration and the
angular velocity are in the same
direction, the angular velocity will
increase with time
If the angular acceleration and the
angular velocity are in opposite
directions, the angular velocity will
decrease with time

Centripetal Acceleration
An object traveling in a circle,
even though it moves with a
constant speed, will have an
acceleration
The centripetal acceleration is due
to the change in the direction of
the velocity
Centripetal Acceleration
The magnitude of the centripetal
acceleration is given by


This direction is toward the center of
the circle
Total Acceleration, a
T

2 2
C t T
a a a + =
For a circular motion at
constant speed,
a
t
= 0
a
t

a
T

a
C

Tangential acceleration
Centripetal
acceleration
So.. a
T
= a
C


a
t

a
T

a
C

Tangential acceleration
Centripetal
acceleration
Total Acceleration, aT
For a circular motion at
increasing or decreasing
speed,
a
t
0
So
2 2
C t T
a a a + =
Forces Causing Centripetal
Acceleration
Newtons Second Law says that
the centripetal acceleration is
accompanied by a force
F
C
= ma
C

F
C
stands for any force that keeps an
object following a circular path
Tension in a string, T
Gravitational force, F
g

Force of friction, f
s

F
c
= T
Roundabout
Sun
Earth
F
c
= F
g

v
F
c
= f
s

v
Car
Centripetal Force
r
v
m F
ma F
C
C C
2
=
=
Problem Solving Strategy
Draw a free body diagram,
showing and labeling all the forces
acting on the object(s)
Choose a coordinate system
that has one axis perpendicular to
the circular path and the other axis
tangent to the circular path
The normal to the plane of motion is
also often needed
Problem Solving Strategy,
cont.
Find the net force toward the
center of the circular path (this is the
force that causes the centripetal
acceleration, F
C
)
Use Newtons second law
The directions will be radial, normal, and
tangential
The acceleration in the radial direction will
be the centripetal acceleration
Solve for the unknown(s)
Applications of Forces Causing
Centripetal Acceleration
Many specific situations will use
forces that cause centripetal
acceleration
Level curves
Banked curves
Horizontal circles
Vertical circles
Level Curves
Friction is the
force that
produces the
centripetal
acceleration
Can find the
frictional force, ,
or v
rg v =
Banked Curves
A component of
the normal force
adds to the
frictional force to
allow higher
speeds


2
tan
tan
c
v
rg
or a g
u
u
=
=
Vertical Circle
Look at the forces
at the top of the
circle
The minimum
speed at the top
of the circle can
be found

gR v
top
=
Example
A car travels at a constant speed of
13.4m/s on a level circular turn of
radius 50m, as shown in the figure.
What minimum coefficient of static
friction,
s
between the tires and
roadway will allow the car to make
the circular turn without sliding?
v
r

s
??
Solution
a
c

y
x
F
C
= ma
C
f
s
= ma
C

s
mg = m (v
2
/r)

s
(9.8) = (13.4)
2
/ 50

s
= 0.366
Example
At what minimum speed can a car
negotiate a turn on a wet road
with coefficient of static friction
0.230 without sliding out of
control? The radius of the turn is
25 m.
v ??

s

r
Solution
a
c

y
x
F
C
= ma
C
f
s
= ma
C


s
mg = m (v
2
/r)

0.23(9.8) = v
2
/ 25
v = 7.51 m/s
Example
A car is traveling on a banked
curve. Find the centripetal
acceleration of the car if the angle
at which the curve is banked at
30
o
with respect to horizontal?
a
C
??
Solution
a
C

n
mg
) 30
o

) 30
o

30
0

n cos 30
o

n sin 30
o

F
y
=0
n cos 30
o
mg = 0
n = mg / cos 30
o

F
C
= ma
C
n sin 30
o
= ma
C
(mg / cos 30
o
) sin 30
o
= ma
C
a
C
= (9.8 / cos 30
o
) sin 30
o

a
C
= 5.66 m/s
2

Example
The figure shows a roller-coaster
car moving around a circular
loop of radius 10m.
a)What speed must the car have
so that it will just make it over
the top without any assistance
from the track?
b)What speed will the car
subsequently have at the bottom
of the loop?
c)What will be the normal force on
a 60kg passenger at the bottom
of the loop.
Solution
a) At the top of the loop :

F
C
= ma
C

n + mg = ma
C
0 + mg = m (v
2
/r)
9.8 = v
2
/10
v = 10 m/s
car
x
y
n mg
a
C

track
Solution
car
x
y
n
mg
a
C

track
10m
y
i
= 20m
v
i
= 10m
y = 0
y
f
= 0m
v
f
= ??
b) At the bottom of the loop :
W
net
= KE
W
C
+ W
nc
= KE
W
g
+ 0 = KE
0 = KE W
g

KE + PE
g
= 0
m(v
f
2
v
i
2
) + mg(y
f
y
i
) = 0
(v
f
2
10
2
) + 9.8 (0-20) = 0
v
f
= 22.2 m/s
Solution
car
x
y
n
mg
a
C

track
a) At the bottom of the loop :

F
C
= ma
C

n - mg = ma
C
n 60(9.8) = 60 (22.2
2
/10)
n = 3545 N
Example
A jet traveling at a speed of 120 m/s
executes a vertical loop with a radius
of 500m. Find the magnitude of the
force of the seat on a 70kg pilot at :

a) The top
b) The bottom of the loop
Solution
a) At the top of the loop :
passenger
x
y
n
mg
a
C

seat
F
C
= ma
C

n + mg = m (v
2
/r)
n + 70(9.8) = 70(120
2
/500)
n = 1.33 x 10
3
N
v = 120 m/s
Solution
a) At the bottom of the loop :

F
C
= ma
C

n - mg = m(v
2
/r)

n 70(9.8) = 70 (120
2
/500)
n = 2.70 x 10
3
N
passenger
x
y
n
mg
a
C

seat
Extra
Question
A roller-coaster vehicle has a mass of
500kg when fully loaded with
passengers as shown in the figure.

a)If the vehicle has a speed of 20m/s at
point A, what is the force of the track
on the vehicle at this point?
b)What is the maximum speed the vehicle
can have at point B in order for gravity
to hold it on the track?
n ??
v ??
Solution
passenger
x
y
n
mg
a
C

track
F
C
= ma
C

n - mg = m(v
2
/r)

n 500(9.8) = 500 (20
2
/10)
n = 25 kN
a)
Solution
passenger
x
y
n
mg
a
C

track
b)
F
C
= ma
C

mg n = ma
C
mg 0 = m (v
2
/r)
9.8 = v
2
/15
v = 12.1 m/s