Rotational Kinematics

Chapter 8

Expectations
After Chapter 8, students will:
understand and apply the rotational versions of
the kinematic equations.
be able to mathematically associate tangential
variables with corresponding angular ones
understand and apply the concept of total
acceleration in rotational motion
state and use the principle of rolling motion

A Brief Review from Chapter 5

Angular displacement:

S r
Units: radians (rad)

A Brief Review from Chapter 5

Average angular
velocity:

t r
units: rad/s
or: degrees/s, rev/min, etc.

Angular Acceleration
Average angular acceleration:

t
t t0
units: rad/s2
or: degrees/s2, rev/min2, etc.

Rotational Kinematic Equations

Definition of average angular velocity:

t
t
1
0
2
1
0 t
2

Rotational Kinematic Equations

Definition of average angular acceleration:

t
t 0
0 t

Rotational Kinematic Equations

A previous result:
1
0 t
2
0 t

1
1
0 0 t t 20t t 2
2
2
1 2
0t t
2

Rotational Kinematic Equations

Solve definition of average acceleration for t:
0
0

t
t

Substitute into a previous result:

1
1
0
0 t 0

2
2

2 0 0 0
2

0 2
2

Comparison: Kinematic Equations

Rotational
( = constant)

Linear
(a = constant)

0 t
1
0 t
2
1 2
0 t t
2
2
2
0 2

v v0 at
1
x v0 v t
2
1 2
x v0t at
2
2
2
v v0 2ax

Comparison: Kinematic Equations

Same equations, (some) different variables

Position, displacement: x
Time: t

Velocity, speed: v
Acceleration:

Angular and Tangential Velocity

Average angular velocity is the angular displacement
divided by the time interval in which it occurred.

x vT t
x r (small )
vT t r

vT

vT r
t
r

Angular and Tangential Acceleration

From the definition of linear acceleration:
vT vT 0 r r0
0
aT

t
t
t

From the definition of angular acceleration:

0

t
Combining:

aT r

Angular Velocity, Centripetal

Acceleration
From chapter 5:

Substituting:

vT
aC
r

But:

r 2 2
aC
r 2
r

aC r 2

vT r

Total Acceleration
The tangential and centripetal
accelerations are vector
components of the total
acceleration.
2

a aC aT
aT
tan
aC

Rolling Motion: Velocity

When a circular, cylindrical, or
spherical object rolls without
slipping over a surface:

v r
linear speed of
axle
wheel
radius

angular speed of
wheel

Rolling Motion: Acceleration

When a circular, cylindrical, or
spherical object rolls without
slipping over a surface:

a r
linear
acceleration of
axle

wheel
radius

angular
acceleration of
wheel

Angular Vectors
Angular displacement, , is not a vector quantity. the
reason: addition of angular displacements is not
commutative. Where you end up depends on the
order in which the angular displacements (rotations)
occur.

Angular Vectors
Angular velocity, , and angular acceleration, , are
vectors.
Magnitudes:

and
t
t

Directions: Parallel to the axis of rotation, and in the

direction given by the right-hand rule:

Angular Vectors
Right-hand rule direction for :

Angular Vectors
Right-hand rule direction for :

Also parallel to axis of rotation

Same direction as change in vector

Same direction as if is increasing in magnitude

Opposite direction from if is decreasing in magnitude