ROTATION
Prepared by
ALBERTO A. LIBARI JR., CE
Course Instructor
INTRODUCTION
Rotation is defined as that motion of a rigid body in which the particles
move in circular paths with their centers on a fixed straight line that is called
the axis of rotation. The planes of the circles in which the particles move are
perpendicular to the axis of rotation.
INTRODUCTION
Figure shows a body which is free to rotate
about the fixed axis O.
If the radius to any point A is permitted to
rotate through θ radians, point A moves through
arc distance �1 = �1 � . Since the body is rigid,
angle AOB cannot change; hence the radius to
any other point B will also rotate through θ
radians and Point B will move through the arch
distance �2 = �2 �.
INTRODUCTION
From this we can conclude that all particles
of a rotating body have the same angular
displacement ( i.e the same � ) although their
linear movements (i.e �1 and �2 ) vary directly
with their distances from axis of rotations
Units of angular displacement may be
radians, degrees, or revolutions but radian
measurement is preferred to in order to
correlate the angular displacement with linear
displacement.
KINEMATICS DIFFERENTIAL EQUATIONS OF ROTATION
Consider a pulley free to rotate around an
axle O under the action of a weight W
suspended from a cord wound around the pulley.
Assume that the weight descends s ft. This
will unwind from the pulley a length of cord
equal to s ft so that the point B on the rim will
rotate to occupy the position of point A.
The angular distance � through which the
pulley rotates is obviously subtended by radii
drawn to points A and B.
KINEMATICS DIFFERENTIAL EQUATIONS OF ROTATION
The relation between the linear displacement
of the weight and the angular displacement (in
radians) of the pulley is given by the equation
� = ��
Differentiating with respect to time,
�� ��
=�
�� ��
KINEMATICS DIFFERENTIAL EQUATIONS OF ROTATION
�� represents the time rate of change of
��
angular displacement and hence, by analogy, will
be called the angular velocity and be represented
by the symbol � . Thus, the angular velocity at
any instant is defined by the equation;
��
�=
��
� = ��
KINEMATICS DIFFERENTIAL EQUATIONS OF ROTATION
Angular acceleration
��
�=
��
Linear tangential acceleration
�� = ��
Linear normal acceleration
��
�� = = ���
�
KINEMATICS DIFFERENTIAL EQUATIONS OF ROTATION
�� ��
From � = and � = , eliminating dt,
�� ��
��� = ���
Linear and angular relationship
� = ��
� = ��
�� = ��
ROTATION WITH CONSTANT ANGULAR ACCELERATION
� = �� + ��
� �
� = �� � + ��
�
�� = ��� + ���
ROTATION WITH CONSTANT ANGULAR ACCELERATION
Sample Problem-1: The rim of a 50-in. wheel on a brakeshoe testing
machine has a speed of 60 mph when the brake si dropped. It comes to rest
after the rim has traveled a linear distance of 600 ft. What are the constant
angular acceleration and the number of revolutions the wheel makes in
coming to rest?
Answer:
� =− �. � ���/����
θ = 45.91 rev
ROTATION WITH CONSTANT ANGULAR ACCELERATION
Sample Problem-2: A flywheel 6 ft in diameter accelerates from rest at the
constant rate of 4 rpm per sec. Compute the normal and tangential
components of acceleration of a particle on the rim of the flywheel after 10
seconds.
Answer:
�� = �. �� ��/��
�� = ��. �� ��/��
ROTATION WITH CONSTANT ANGULAR ACCELERATION
Sample Problem-3: The step pulleys shown in figure are connected by a
crossed belt. The angular acceleration of C is 2 rad per sec2, what time is
required for A to travel 180 ft from rest? Through what distance will D
move while A is moving 240 ft?
Answer:
� = �. � s
�� = ��� ��
ROTATION WITH VARIABLE ANGULAR ACCELERATION
��
�=
��
�� �� �
�= = �
�� ��
��� = �(��)
ROTATION WITH VARIABLE ANGULAR ACCELERATION
Sample Problem-4: The rotation of a pulley is defined by the relation
� = 2�4 − 30�2 + 6 , where � is measured in radians and t in seconds.
Compute the values of angular velocity and angular acceleration at the
instant when t= 4 sec
Answer:
� = ��� ���/�
� = ��� ���/��
ROTATION WITH VARIABLE ANGULAR ACCELERATION
Sample Problem-5: A body rotates according to the relation � = 3�2 + 4,
displacement being measured in radians and time in seconds. If its initial
angular velocity is 4 rad per sec and the initial angular displacement is zero,
compute its angular velocity and angular displacement for the instant when t
= 3 sec
Answer:
� = �� ���/�
� = ��. �� ���
ROTATION WITH VARIABLE ANGULAR ACCELERATION
Sample Problem-6: The angular acceleration of a flywheel decreases
uniformly from 8 rad per sec2 . in 6 sec at which time its angular velocity is
42 rad per sec. Compute the initial angular velocity and the number of
revolutions made during the 6 sec interval.
Answer:
�� =12 rad/sec
� = ��. � ���