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Class 14
Rotational Motion
Rotational Variables
Previously we used terms like
clockwise, and positive
angle to describe rotation
about a fixed point.
We wanted a description that
doesnt depend on our choice
of coordinate system or
perspective, so we used
vectors.
velocity .
Mathematically this is a cross
product of two vectors,
v r
Definitions
Angular Position:
Angular Displacement:
(always in radians)
Angular velocity:
d
lim
dt
t 0 t
d d
dt dt 2
t 0 t
lim
0 t t0
2.
0 0 (t t0 ) (t t0 )2
3.
0 (0 )(t t0 )
4.
0 (t t0 ) (t t0 )2
5.
2 02 2 0
1
2
1
2
1
2
v2 2 r 2
| aradial || acentripetal |
2 r
r
r
Non-zero velocity and angular velocity give non-zero
radial acceleration. You knew this already!
Non-zero angular acceleration gives non-zero
tangential acceleration. This is new!
Energy in Rotation
For a rigid object rotating
about an axis, each particle (atom) has the
same angular velocity, , but not the same linear velocity.
K mi vi 2 mi 2 ri 2 2 mi ri 2
1
2
1
2
1
2
The summation at the end can be done once for each system. It is
called the rotational inertia (or moment of inertia).
I mi ri 2
This gives rotational kinetic energy as,
1
2
K I 2
Similarity Between
Linear and Rotational Variables
x
v
a
mI
F
1
K I 2
2
Take-Away Concepts
1.
2.
3.
4.
5.
6.
Introduction to torque: I
Similar variables:
x
mI
v
F
1.
North.
South.
East.
West.
Up.
Down.