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6)
Impulse - momentum theorem
r r r r
F∆t = ∆p = mv f − mv i Chapter 7
r r r r
if F = 0, then ∆p = 0 and mv f = mv i
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Concepts of
Linear Motion Linear vs. Rotational
r r r
Displacement ∆r = r f − ri In linear motion: displacement
r mostly along the straight trajectory
v ∆r
Velocity v= In rotational motion: displacement -
∆t along the circular trajectory
v
r ∆v Velocity and acceleration are always
a=
Acceleration changing
∆t Can introduce “angular” quantities for an
easier description of the rotational
motion
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Concepts of
Rotational Motion Angular Displacement
Angular Axis of rotation is
Displacement ∆θ = θ f − θi the center of the
disk
Angular ∆θ Need a fixed
ωav =
Velocity reference line
∆t
During time t, the
∆ω reference line
Angular α av = moves through
Acceleration ∆t angle θ
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Angular Displacement,
Rigid Body cont.
Every point on the object undergoes The angular displacement is defined as
circular motion about the point O the angle the object rotates through
All parts of the object of the body rotate during some time interval
through the same angle during the ∆θ = θ f − θ i
same time
Each point on the object undergoes the
The object is considered to be a rigid
body same angular displacement
This means that each part of the body is The unit of angular displacement is the
fixed in position relative to all other parts of radian
the body
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Conversion Between
The Radian Degrees and Radians
The radian is a Comparing degrees and radians
unit of angular
measure 360°
1 rad = = 57.3°
The radian can be 2π
defined as the arc Converting from degrees to
length s along a radians
circle divided by π
the radius r θ [rad] = θ [deg rees]
θ =
s 57.3° 180°
r
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Average Angular
Quick Quiz 7.1-2 Acceleration
Set of initial and final angular positions: The average angular acceleration α
(a) 3 rad, 6 rad; (b) −1 rad, 1 rad; (c) 1 rad, 5 rad.
of an object is defined as the ratio
Which of the sets can occur only if the rigid body
angular speed?
ωav = ∆θ / ∆t α av = =
tf − ti ∆t
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Analogies Between Linear
Example: Problem#6 and Rotational Motion
ωi = 3600 rev/min
ωf= 0
∆θ = 50 rev
α -?
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Centripetal Acceleration, Centripetal Acceleration,
cont. final
Centripetal refers to The magnitude of the centripetal
“center-seeking” acceleration is given by
The direction of the
v2
velocity changes ac =
The acceleration is r
directed toward the This direction is toward the center of
center of the circle the circle
of motion
r r r
∆v = v f − v i
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Centripetal Acceleration
and Angular Velocity Total Acceleration
The angular velocity and the linear The tangential component of the
velocity are related (v = ωr) acceleration is due to changing
speed
The centripetal acceleration can
also be related to the angular The centripetal component of the
acceleration is due to changing
velocity
direction
aC = ω2r Total acceleration can be found
from these components
a = a 2t + aC2
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Forces Causing Centripetal
Acceleration Directions Acceleration
If the angular acceleration and the Newton’s Second Law says that
angular velocity are in the same the centripetal acceleration is
direction, the angular speed will accompanied by a force
increase with time FC = maC
FC stands for any force that keeps an
If the angular acceleration and the object following a circular path
angular velocity are in opposite Tension in a string
directions, the angular speed will Gravity
decrease with time Force of friction
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