CHAPTER 7 Prepared by:

Asmawati @ Fatin Najihah Binti Alias

Lecturer
Universiti Teknologi Mara Caw Johor Kampus
Pasir Gudang
CONTENTS
6.1 Angular positions, angular displacement, angular velocity and angular
acceleration
6.2 Equation of constant angular acceleration in rotational motion
6.3 Relation between linear and rotational parameters
6.4 Circular motion
6.4.1 Tangential acceleration
6.4.2 Centripetal / radial acceleration
6.4.3 Centripetal force
 LESSON OUTCOMES
After completing this chapter, you should be able to
▪define angular displacement, angular velocity and angular acceleration and apply
these concepts to the solution of physical problems.
▪differentiate between the acceleration of uniform motion & non-uniform motion
▪write and apply relationships between linear speed @ acceleration and angular
speed of acceleration.
▪draw analogies relating rotational- motion parameters to linear-motion parameters.
▪know the relation & the differences between linear-motion parameters & rotational-
motion parameters.
▪apply your knowledge of centripetal force and centripetal acceleration to the
solution of problems
INTRODUCTION
✓Circular motion is rotational around a circle.
✓When a rigid object rotates about a fixed axis, each point of
the object moves in a circular path.
✓A uniform circular motion occurs when an object moves in a circle
with constant speed.
✓Each point moves through the same angle during a particular
time interval.
6.1 ANGULAR POSITIONS, ANGULAR DISPLACEMENT, ANGULAR
VELOCITY AND ANGULAR ACCELERATION

Angular position/dislacement, θ (unit: rad)

r θ=r
s ratio of the arc length, s , and radius,

θ
s r , of the corresponding circle

where
O
θ : angular displacement / angle (unit: radian)
r : radius of the circular path (unit = meter)
s : length of arc (unit: meter)

1 revolution = 2 rad =360

ANGULAR DISPLACEMENT, 

When an object (e.g the bicycle wheel)

rotates from some initial point, θ1, to some
final point, θ2, its angular displacement is

∆𝜃 = 𝜃2 − 𝜃1
 IMPORTANT NOTE

1rev=2rad
1revolution °= 2 rad
= 360
1cycle
= 360°
1min=60s
ANGULAR VELOCITY,
Angular velocity (ω) is defined as the rate of change of angular
displacement.
= d
dt
✓ The unit is rad/s. [revolutions per second (rps ) or revolutions per
minute (rpm)]

✓ Vector quantity

✓ All parts of a rigid object rotating about a fixed axis have the
same angular velocity at any instant.

✓ The average of angular displacement is defined as

∆𝜃
𝜔
ഥ=
∆𝑡
ANGULAR ACCELERATION, 
Angular acceleration (α) is defined as the rate of change of
angular velocity .

= d
dt
✓The unit is rad/s2

✓Vector quantity

✓The average of angular acceleration is defined as

∆𝜔 𝜔𝑓 − 𝜔𝑖
𝛼ത = =
∆𝑡 ∆𝑡
 Angular displacement (unit = radian)
define as range/distance
between 2 position @
point of interest

Angular velocity
(unit: rads-1)

Define as rate of
change of its
angular position.

Angular acceleration
(unit: rads-2)

Define as rate of
change of angular
velocity with time.
6.2 EQUATION OF CONSTANT ANGULAR ACCELERATION IN
ROTATIONAL MOTION

Linear motion Angular rotation

v = u + at 𝜔 =𝜔𝑜 +𝛼t
ROTATION WITH
CONSTANT ANGULAR 1
𝑠 = 𝑢+𝑣 𝑡
1
𝜃 = 𝜔𝑜 + 𝜔 𝑡
ACCELERATION 2 2

1 2 1 2
𝑠 = 𝑢𝑡 + 𝑎𝑡 𝜃 = 𝑢𝑡 + 𝛼𝑡
2 2

v2 = u 2 + 2as 𝜔2 = 𝜔𝑜 2 + 2𝛼𝜃
EXAMPLE 1
A wheel turning with angular speed of 30 rps is brought to rest with constant acceleration. It
turns 60 revolutions before it stops.
a) What is its angular acceleration?
b) What time elapsed before it stops?

(a)o = 30rps= 30(2) rad/ s = 60 rad/ s

= 0
 − o = 60revolution
s = 60(2) rad= 120 rad

2 = o
2
+ 2( − o)
0 = (60)2 + 2(120 )
=− 3600 2
= −47rad/ s2
240 
1
(b) −o = (+ o)t
2
t = 2( −o) = 2(120)
+ o 60
=4s
EXAMPLE 2
During an analysis of a helicopter engine, you have determined that the rotor’s velocity changes from
320 rev/min to 225 rev/min in 1.50 minutes as the rotor slowed down to a stop.
a) What is the average angular acceleration of the rotor blades during the interval?
b) Assuming that the rotor’s angular acceleration to be constant at this average value, calculate the
time taken for the rotor blades to completely stop.
c) How many revolutions will the rotor blades make before it completely stops?

SOLUTION:
(a)o = 320rev/min
= 320(2) rad/ 60s = 33.51rad/ s
 = 225rev/min
= 225(2) rad/ 60s = 23.56rad/ s
t = 1.5minutes
= 1.5(60)s= 90s

 = o + t
23.56= 33.51+ (90)
 = −9.95 = −0.11rad/ s2
90
(b) = 0,o = 33.51rad/ s
 = o + t
0 = 33.51+(−0.11)t
t = 33.51= 304.6 s
0.11

(c) −o = 1(+ o)t

2
= 1(0 +33.51)(304
.6)
2
= 5103.6rad
= 5103.6revolution
2
 812revolution
EXERCISE 1:

1. An object rotates through 2.35 rotations. Calculate the angular displacement in

a. Radian
b. Degree (Ans: (a) 14.77 rad, (b) 846°)

2. A wheel rotates at a constant angular velocity of 1.5 rads-1. What is the angular
displacement of a point on rim of the wheel after 2.0 minutes?
(Ans: 180 rad)

3. An object rotates with constant angular velocity and makes 5.6 revolutions in 1.5 s.
what is the angular velocity?
(Ans: 23.46 rads-1)
EXERCISE 2

A disc has a constant angular acceleration of 2 rads-2. At t = 0 s, the tangential

velocity is 4 m s-1. The diameter of the disc is 15 cm. Compute the
a) initial angular speed of the disc
b) angular speed and angular displacement of the disc at t = 8 s
c) angular displacement in revolution in 8 s
d) time taken for the disc to complete one rotation

Ans: 53.33 rad/s, 69.33 rad/s, 490.64 rad, 78.09 rev, 117.30 ms
EXERCISE 3
A particle moves in a circular path of radius 0.60 m with constant
acceleration of  rads-2 . Its angular speed at 3 s and 5 s is 36 rads-1 and 21
rads-1 respectively. Compute the
a) value of 
b) initial angular speed of the particle
c) angular displacement made in 5 s
d) time taken for the particle to complete the circular path twice

Ans: -7.5 rad/s2 , 58.5 rad/s, 198.75 rad, 0.218 s

6.3 RELATION BETWEEN ANGULAR & LINEAR VARIABLES

We can relate the linear quantities at each point , v and a, to the

angular quantities of the rotating object, ω and α.

If the object rotates with angular velocity ω, any point will have a
linear velocity whose direction is tangent to its circular path.
Δs
v = =r Δθ
Δs Δt Δt

Δθ r Linear and angular velocity

related
v=rω
 TANGENTIAL ACCELERATION

If the angular velocity of a rotating object changes, the object has an

angular acceleration.

Each point has a linear acceleration whose direction is tangent to that

point’s circular path.
Δv
a tan= = r Δ
Δt Δt

Tangential acceleration

atan =r
 CENTRIPETAL /RADIAL ACCELERATION

On a rotating wheel whose angular speed is increasing, a point P has

both tangential and centripetal (radial) components of linear
acceleration.
The total linear acceleration at this point is:
a = a +a
tan c
2
Where, ac = v
r

Centripetal acceleration

v2
ac = = 
(r )2
= ω2r
r r
When a body moves in a uniform circular motion means the object
rotates with constant velocity in time t.
- there is no angular acceleration ( = 0)
- tangential acceleration,( atan=0),
- There will only be centripetal/radial acceleration, ac of the object.

When a body moves in a non-uniform circular motion (motion of

an object in a circle at a varying speed) (constant acceleration),
- ex: roller coaster, car riding over a hill, vertical pendulum
-it will have both types of acceleration:
(1) tangential acceleration, at,
a = a + a
t r
(2) centripetal acceleration, ar.
- The total acceleration of the body
a = a + a 2 2
r t
 CENTRIPETAL FORCE

Centripetal force being perpendicular to the velocity will

provide circular motion.
Centripetal force, FC.

v2
FC = mac = m = m(r )2

r r
FC =mr2
where
2 r = radius of the circle.
FC = mv v = tangential speed.
r m = mass .
 CENTRIPETAL FORCE, FC
   a = a and F = F
v 
Fc
a v
c  

F = Fnett = ma

where c2 
a = v = r2 = v
c

a 
Fc Fc = mac and c
r
c
 a mv 2
Fc c Fc = = mr 2 = mv
v r
where Fc : centripeta l force
Its direction is in the same direction of the centripetal acceleration
 LINEAR AND ROTATIONAL QUANTITIES

We can relate the angular velocity ω to the frequency of rotation, f.

The frequency is the number of complete revolutions (rev) per second.

“One revolution (of a wheel, say) corresponds to an angle of 2π

radians”

1 rev/s = 2π rad/s
 LINEAR AND ROTATIONAL QUANTITIES

Hence, in general, the frequency f is related to the angular

velocity ω by 
f=
2
or
ω=2f
Where the unit for f is hertz (Hz). That is
1 Hz = 1 rev/s

The time required for one complete revolution is called the

period T, and it is related to the frequency by
T= 1
f
6.3 RELATION BETWEEN ANGULAR & LINEAR VARIABLES

Position, s (unit = meter) s = rθ

Speed, v (unit = ms-1) v = r

Period, T (unit = s)
T= 2
= time taken for the body to 
complete one rotation

Angular frequency,  (unit = rads-1) = 2f

EXAMPLE 3:
A car is travelling with a velocity of 17.0 m/s on a straight horizontal highway. The wheels of the car has a
radius of 48.0 cm. If the car then speeds up with an acceleration of 2.00 m/s2 for 5.00 s, calculate
a) the number of revolutions of wheels during this period,
b) the angular speed of the wheels after 5.00 s.
Solution:
By applying the equation of rotational motion with constant
angular acceleration, thus
a) The initial angular velocity is
u = ro  =ot + 1t
2
17.0 =0.48o 1
 =(35.4)(5.00) + (4.17)(5.00)2
o =35.4 rad/ s 2
 = 229rad
and the angular acceleration of the wheels is given by
a = r  = 229rad 1 rev  =36.5 rev
2.00=0.48  2 rad
 = 4.17 rad/ s2
b) The angular speed of the wheels after 5.00 s is

 =o +t
 =35.4+(4.17)(5.00)
 =56.3 rad/ s
EXAMPLE 4:
The wheels of a bicycle make 30 revolutions as the bicycle reduces its speed uniformly from 50.0 km/h to
35.0 km/h. The wheels have a diameter of 70 cm.
a) calculate the angular acceleration.
b) if the bicycle continues to decelerate at this rate, determine the time taken for the bicycle to stop

Solution:
a) The initial angular velocity is

 =302 =60 rad, r = 0.70=0.35m

2
50.0 km 103 m 1h 
u=     =13.9m/ s
1h  1km  3600s 
35
. 0km 103 m 1h 
v=     =9.72m/ s
1h  1km  3600s 
The initial angular speed of the wheels is
u = ro
13.9 = 0.35o
o =39.7rad/ s
and the final angular speed of the wheels is
v = r therefore 2 =o2 +2
9.72=0.35
(27.8)2 =(39.7)2 +2(60)
 = 27.8rad/ s
 = −2.13rad/ s2
b) The bicycle stops thus ω = 0 and ωo = 27.8 rad/s2
Hence  =o +t
0 = (27.8) +(−2.13)t
t =13.1s
EXAMPLE 5:
A blade of a ceiling fan has a radius of 0.4 m is rotating about a fixed axis with
an initial angular velocity of 0.150 rev s-1. The angular acceleration of the
blade is 0.750 rev s-2. Determine
a) the angular velocity after 4.00 s,
b) the number of revolutions for the blade turns in this time interval,
c) the tangential speed of a point on the tip of the blade at time, t = 4.00 s,
d) the magnitude of the resultant acceleration of a point on the tip of the blade
at t = 4.00 s.

Solution: r = 0.4m, o = 0.1502 = 0.300 rad/ s

 = 0.7502 =1.50 rad/ s2

a) Given t = 4.00 s, thus

 =o +t
 =(0.300) +(1.50)(4.00)
 =19.8 rad/ s
b) The number of revolutions of the blade is

 =ot + 1t2
2
1
 =(0.300)(4.00) + (1.50)(4.00)2
2
 = 41.5 rad

 = 41.5 rad 1 rev 
 = 6.61rev
 2 rad
c) The tangential speed of a point is given by
v = r
v =(0.4)(19.8)
v = 7.92m/ s
d) The magnitude of the resultant acceleration is

a = ac2 +at2
v 2 2
a =   +(r)2
r 
(7.92)  2 2
a=   +(0.41. 
50 )2
 0.4 
a =157m/ s2
EXAMPLE 6:
A coin with a diameter of 2.40 cm is dropped on edge on a horizontal surface. The coin starts out with an
initial angular speed of 18 rad s−1 and rolls in a straight line without slipping. If the rotation slows down
with an angular acceleration of magnitude 1.90 rad s−2, calculate the distance travelled by the coin before
coming to rest.

Solution:
The initial speed of the point at the edge the coin is
u = ro
u =(1.2010−2)(18)
u = 0.216m/ s
And the final speed is v = 0 m/s
The linear acceleration of the point at the edge the Therefore the distance travelled by the coin is
coin is given by
a = r v2 = u2 + 2as
a = (1.210−2)(−1.9) 0 = (0.216)2 + 2(−2.2810−2)
a = −2.2810−2 m/ s2 s =1.02m
EXAMPLE 7
EXAMPLE 8
An object travels with uniform circular motion at an orbital speed of 3.0 m/s and radius of 1.5 m. The object
then experiences a force for 2.0 s resulting in an angular acceleration of 0.40 rad/s2. The object remains in
the same circular orbit. Calculate
a) the acceleration of the object before it experiences the force
b) the angular speed of the object after the 2 s interval
c) the angular displacement undergone by the object after the 2 s interval
d) the acceleration of the object after the 2 s interval

Solution
a) Since the object moves in a uniform circular motion it experiences force,  = 0. Hence at = 0.
The acceleration of the object is contributed only by the centripetal acceleration.
2 2
v
ar = =
o (3 .0) = 6.0 ms−2
r 1.5
b)
o = vo = 3 = 2 rad/ s = o + t
r 1.5 = 2+(0.40)(2)
= 2.8 rad/ s
 (c) = 2.8 rad/ s, o = 2 rad/ s, t = 2 s

- o = 1(+ o )t = 1(2.8+ 2)2

2 2
= 4.8 rad

d) After the 2 s interval, the object undergoes a non-uniform circular motion.

at = r=(1.5)(0.40) = 0.60m/s2
ar =2r =(2.8)2(1.5) =11.76m/s2
The total acceleration, a = a2r +a2t
= (0.60)2 +(11.76)2
=11.78m/s2
EXAMPLE 9

A 900-kg car moving at 10 m/s takes a turn around a circle with a radius of 25.0 m. Determine the
acceleration and the net force acting upon the car.

Solution:
To determine the acceleration of the car, use the equation a = v2 / R.
The solution is as follows:
a = v2 / R
a = (10.0 m/s)2 / (25.0 m)
a = (100 m2/s2) / (25.0 m)
a = 4 m/s2

To determine the net force acting upon the car, use the equation
Fnet = m•a. The solution is as follows.
Fnet = m • a
Fnet = (900 kg) • (4 m/s2)
Fnet = 3600 N
EXERCISES 4:

1. A fan was rotating at 2.0 revolutions per second slows down uniformly and it stops after 5.0 s.
Calculate its angular acceleration. (Ans: -2.50 rads-2).

2. A wheel of radius 50 cm is speeded up uniformly from rest to a speed of 1200 rpm in 30 s. Calculate
a. The angular acceleration of the wheel.
b. The tangential acceleration of a point on its rim.)
(Ans; (a) 4.19 rads-1, (b) 2.10 [Link]-2)

3. The tires of a Myvi car make 65 revolutions as the car reduces its speed uniformly from 80 kmh-1 to
30 kmh-1. The tires have a diameter of 8.0 m. What was the angular acceleration of the tires?.

4. A wheel 25.0 cm in radius turning at 120 rpm increases its frequency to 600 rpm in 9.0 s. Find the
constant angular acceleration in rads-2.
EXERCISE 4
5. A pulley of 5.0cm radius on a motor is turning at 30 rev/s and slows down uniformly to 20 rev/s
in 2.0s. Calculate
i) the angular acceleration of the motor.
ii) the number of revolution it makes in this time.
iii) the length of belt it winds in this time.
Ans: α = -10π rad s-2, θ = 50 rev, length = 16 m

6. A mass of 1.5 kg moves in a circle with a radius of 25 cm at a constant 2.0 rev/s. Calculate
i) the tangential speed.
ii) the centripetal acceleration.
iii) the centripetal force

Ans: v = 3.14 m s-1, ar = 39.44 m s-2, F = 59.16 N

THE END…