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Rotational
Kinematics
8.3 The Equations of Rotational Kinematics
8.4 Angular Variables and Tangential Variables
s = rθ (θ in radians)
r
v T = tangential velocity
vT = tangential speed
8.4 Angular Variables and Tangential Variables
!
"=
s r' &' # t
vT = = = r$ !
t t %t"
vT = r! (! in rad/s)
8.4 Angular Variables and Tangential Variables
2
aT = r! (! in rad/s )
8.4 Angular Variables and Tangential Variables
( )
aT = r! = (3.00 m ) 8.17 rad s 2 = 24.5 m s 2
8.5 Centripetal Acceleration and Tangential Acceleration
2 2
ac =
v T
=
(r! )
= r! 2 (! in rad/s)
r r
aT = r! (! in rad/s 2 )
8.5 Centripetal Acceleration and Tangential Acceleration
2
ac = r! 2 = (0.810 m )(15.0 rad s )
= 182 m s 2
ω - ωo o
ù-ù & 15.0 rad s #
aT = r' = r = (0.810 m )$ !
t % 0.270 s "
= 45.0 m s 2
Rotational Dynamics
9.1 The Action of Forces and Torques on Rigid Objects
TORQUE
DEFINITION OF TORQUE
! = Fl
Direction: The torque is positive when the force tends to produce a
counterclockwise rotation about the axis.
The lever arm, l, for some force acting about some rotation
axis is defined as the distance between the rotation axis and
a perpendicular to the force.
9.1 The Action of Forces and Torques on Rigid Objects
! = Fl
o l
cos 55 =
3.6 "10 ! 2 m
ax = a y = 0 ! =0
!F x =0 !F y =0 !" = 0
9.2 Rigid Objects in Equilibrium
!F x =0 !F y =0 !" = 0
9.2 Rigid Objects in Equilibrium
Reasoning Strategy
1. Select the object to which the equations for equilibrium are to be applied.
2. Draw a free-body diagram that shows all of the external forces acting on the
object.
3. Choose a convenient set of x, y axes and resolve all forces into components
that lie along these axes.
4. Apply the equations that specify the balance of forces at equilibrium. (Set the
net force in the x and y directions equal to zero.)
5. Select a convenient axis of rotation. Set the sum of the torques about this
axis equal to zero.
"# = F l 2 2 ! Wl W = 0
Wl W
F2 =
l2
F2 =
(530 N )(3.90 m )
= 1480 N
1.40 m
9.2 Rigid Objects in Equilibrium
"F y = ! F1 + F2 ! W = 0
! F1 + 1480 N ! 530 N = 0
F1 = 950 N
9.2 Rigid Objects in Equilibrium
Example 5 Bodybuilding
The arm is horizontal and weighs 31.0 N. The deltoid muscle can supply
1840 N of force. What is the weight of the heaviest dumbell he can hold?
9.2 Rigid Objects in Equilibrium
"# = !W l a a ! Wd l d + Ml M = 0
! Wa l a + Ml M
Wd =
ld
! (31.0 N )(0.280 m )+ (1840 N )(0.150 m )sin 13.0o
= = 86.1 N
0.620 m