Chapter four
ROTATION OF RIGID BODIES ND ROTATIONAL MOTION
Rotational motion
• Motions of a compact disc, a Ferris wheel, a circular saw blade, and a ceiling fan involve a body that rotates
about an axis that is stationary in some inertial frame of reference.
• Circular motion is different than linear motion.
• Rotation occurs at all scales, from the motions of electrons in atoms to the motions of entire galaxies.
• We need to develop some general methods for analyzing the motion of a rotating body.
• Rotational motion is a motion of a body that spins about an axis. One examples of rotational motion is
spinning ferris wheel.
• Circular motion is rotating a point on an object about a single axis around that axis. Examples of circular
motion is bulbs and users of ferris wheel.
• Reference line is the line of which the object was started to move at the first place.
• Circular motion is a special case of rotational motion.
Angular displacement, Angular velocity and acceleration
Angular displacement (∆𝜽) is the angle through which a point, line or body is rotating in a specified direction and about a specified axis.
∆𝒔
∆𝜽 = measured in rad
𝒓
Angular speed (𝜔) is rate at which a body rotates about an axis, or, time rate of change of angular displacement, usually expressed in
radians per second.
∆𝜽
𝝎𝒂𝒗𝒆 =
∆𝒕
Angular acceleration (𝜶𝒂𝒗𝒆 ) is the time rate of change of angular speed, expressed with radians per second per second.
𝝎𝒇 −𝝎𝒊 ∆𝝎
𝜶𝒂𝒗𝒆 = = measured with rad/sec2
𝒕𝒇 −𝒕𝒊 ∆𝒕
❖ Angle is measured either with degree, radians (rad) and revolution (rev).
𝟑𝟔𝟎 𝟏𝟖𝟎
❖ 𝟏 𝒓𝒂𝒅 = = = 𝟓𝟕. 𝟑𝟎
𝟐𝝅 𝝅
❖ For one revolution, ∆𝜽 = 𝟐𝝅 𝑟𝑎𝑑
❖ 1 rev = 360 0 = 𝟐𝝅 𝑟𝑎𝑑
Relating Linear and Angular Kinematics
• Linear Speed in Rigid-Body Rotation (Tangential speed ( 𝒗𝒕 )) : When a rigid body rotates about a fixed
axis, every particle in the body moves in a circular path. The circle lies in a plane perpendicular to the axis
and is centered on the axis. The speed of a particle is directly proportional to the body’s angular velocity; the
faster the body rotates, the greater the speed of each particle.
• Tangential speed ( 𝒗𝒕 ) is the instantaneous linear speed of an object along the tangent to the object’s
circular path.
𝒗𝒕 = 𝒓 × 𝝎
Where 𝑣𝑡 : tangential speed (in meter/sec),
r: radius of the rotating circle (in meter), and
𝜔: instantaneous angular speed (in rad/sec)
Relating Linear and Angular Kinematics
• Linear Acceleration in Rigid-Body Rotation (Tangential acceleration): We can represent the acceleration of a particle moving in a
circle in terms of its centripetal and tangential components,
• Tangential acceleration is the instantaneous linear acceleration of an object directed along the tangent to the object’s circular
path,
𝒂𝒕 = 𝒓 𝜶
Where 𝑎𝑡 : tangential acceleration (meter/sec2)
𝛼:angular acceleration (rad/sec2)
r: radius of circulation (meter)
• Centripetal acceleration (𝒂𝒄 ) is the time rate variation of the direction of
velocity when it moves on a circular path.
𝒗𝟐𝒕
𝒂𝒄 = or 𝒂𝒄 = 𝒓𝝎𝟐 𝒂𝒕𝒐𝒕𝒂𝒍 = 𝒂𝟐𝒕 + 𝒂𝟐𝒄 )
𝒓
❖ When an object moving in a circle can have three different types of accelerations:
1. Angular Acceleration (𝜶)
2. Tangential acceleration (𝑎𝑡 )
3. Centripetal acceleration 𝑎𝑐
Example 1
Example 2
• You are designing an airplane propeller that is to turn at 2400 rpm. The forward airspeed of the plane is to be
75 m/s, and the speed of the tips of the propeller blades through the air must not exceed 270 m/s. (This is
about 80% of the speed of sound in air. If the speed of the propeller tips were greater than this, they would
produce a lot of noise.) (a) What is the maximum possible propeller radius? (b) With this radius, what is the
acceleration of the propeller tip?
Energy in Rotational Motion
Rotational force
• Centripetal force (𝑭𝒄 ) is the resultant effective force on a body that moves it in a circular path and is
directly toward the center of that circular path. The force is measured with newtons (N) in IS unit system.
𝑣𝑡2
𝐹𝑐 = 𝑚𝑎𝑐 𝐹𝑐 = 𝑚 or 𝐹𝑐 = 𝑚𝑟𝝎𝟐
𝑟
• Centrifugal force is the force that pushes the passengers outward in a car during a curved exit path.
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
• Find the net force toward the center of the circular path (this is the force that
causes the centripetal acceleration, FC)
• Use Newton’s 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)
• In vertical circular motion the gravitational force must also be considered. An
example of vertical circular motion is the vertical “loop-the-loop” motorcycle stunt.
Normally, the motorcycle speed will vary around the loop.
• The normal force, FN, and the weight of the cycle and rider, mg, are shown at four
locations around the loop.
The Conical Pendulum
• A conical pendulum (also called a circular pendulum) is a type of pendulum that spins in a
complete circle, instead of just back and forth. It is made up of a mass attached to a string (or rod)
that is attached to a beam. Some important characteristics of the conical pendulum include:
• The weight, or bob, would draw a circle if the movement was traced
• With the movement of the weight and the string, a cone is traced
• The velocity is constant
• It has two forces acting on it: the tension of the string and gravity
• In comparison to the weight of the bob, the string's weight is considered weightless
Simple Conical pendulum
pendulum
Example 3
• A small ball of mass m = 5 kg is suspended from a string of length L =
5 m. The ball revolves with constant speed v in a horizontal circle of
radius r = 2 m. Find an expression for v and a.
Solution
Example 4
• Level Curves:
A 1500 kg car moving on a flat, horizontal road negotiates a curve as shown. If the radius of the curve is 35.0 m
and the coefficient of static friction between the tires and dry pavement is 0.523, find the maximum speed the
car can have and still make the turn successfully.
Solution
Example 5
• Banked Curves
A car moving at the designated speed can negotiate the curve. Such a ramp is usually banked, which means that
the roadway is tilted toward the inside of the curve. Suppose the designated speed for the ramp is to be 13.4 m/s
and the radius of the curve is 35.0 m. At what angle should the curve be banked?
Solution
HW
