Rotational Motion &

Angular Momentum
 Rotational Motion
Every quantity that we have studied with
translational motion has a rotational
counterpart
TRANSLATIONAL ROTATIONAL
Displacement x Angular Position 
Velocity v Angular velocity 
acceleration a Angular acceleration 
Mass m Inertia I
Momentum p Angular Momentum L
Force F Torque 
 Angular Position

s

Arclength

r Radius (from axis of

rotation)

Measured in radians – all angular quantities will be measured in

radians (NOT degrees)
 Angular Position

• In translational motion, x=3

position is represented by a x
point, such as x. 0 5
linear
p/2

• In rotational motion, r
position is represented 
p 0
by an angle, such as ,
and a radius, r.
angular
3p/2
 Angular
Displacement
Dx = 4
• Linear displacement
is represented by the x
0 5
vector Dx.
linear
p/2

• Angular displacement is D  60

represented by D, which
is not a vector, but p 0
behaves like one for small
values.
angular
3p/2
 Angular Displacement
Compare to
D𝒙 = 𝒙 − 𝒙𝒐

D    0
Which direction is positive (by
convention)?
Positive – Counterclockwise
Negative - Clockwise
Tangential vs. angular displacement
• A particle that rotates
through an angle D ss
also translates through
a distance s, which is
the arc length defining r
its path. D

• This distance s is related to

the angular displacement
D by the equation s = rD,
as we saw in a previous
slide.
EXAMPLE: (a) What is the angular position, , if we go
around a circle two times?
s 2(2p𝑟)
Ans.  = = = 4π
r r

(b) Say you go a quarter turn more, what is D?

9𝜋 𝜋
Ans. D =   o = − 4π =
2 2
(c) What is the arclength covered in total between
Probls. (a) and (b) if the radius of the circle is 3 m?

𝜋 9𝜋 27𝜋
Ans. s = r = (3 m)(4p + 2
) =3m( )
2
=
2
m
P.O.D. 1: Two
synchronous
communications
satellites are put into an
orbit whose radius is
r = 4.23 x 107 m. The
two adjacent satellites
have an angular
separation of 2. Find
the arc length, s, that
separates the satellites.
Speed and velocity s vT

• The instantaneous velocity of a

particle in a circular path has
𝐝𝐬 D r
magnitude vT = and is tangent to
the circle.
𝐝𝐭
vT
• The same particle rotates with an avg.
angular velocity
D𝛉 𝛉𝒇−𝛉𝒊
= =
D𝐭 D𝐭
• or instantaneous angular velocity
𝐝𝛉
=
𝐝𝐭
• Tangential and angular speeds are
related by the equation
vT = r .
Angular Velocity Compare to
∆𝒙
𝒗𝒂𝒗𝒈 = and
∆𝒕
𝒅𝒙

D
𝒗𝒊𝒏𝒔𝒕 =
𝒅𝒕

avg  Units – rad/s, rev/s

Dt Direction – Same as displacement
(positive is counterclockwise, negative
is clockwise)

d Magnitude – Angular Speed

inst 
dt
Derivation of tangential velocity formula

s  r
ds d Take the derivative of each
 r side of s = r with respect
dt dt to t.

v  r Substituting  =
𝐝𝛉
𝐝𝐭
and vT =
ds
dt
 Derivation of tangential velocity formula

D
avg 
Dt
vT  r
•OBSERVATIONS:
•All points on object have the same angular speed, 
•Those points farther from the center have a greater
linear (tangential) speed, vT
•These points have to travel farther in the same time
P.O.D. 2: A gymnast on a high bar swings
through two revolutions in a time of 1.90 s.

(a) Find the average

angular velocity (in
rads/s) of the gymnast.
(b) What is her angular
displacement (in rad)
after t = 1 s.
(c) Find her tangential
velocity if the gymnast
is 1.8 m tall.
Acceleration s aT
• Tangential acceleration is given by
𝐝vT
aT =
𝒅𝒕
D r
• Instantaneous angular
acceleration of this particle aT
is given by
𝐝
=
𝒅𝒕
• Average Angular acceleration of this
particle is given by
D
=
D𝒕
• Tangential and angular accelerations
are related by the equation
a = r
 Angular Acceleration
D
Compare to
∆𝒗

 avg 
𝒂𝒂𝒗𝒈 = and
∆𝒕
𝒅𝒗

Dt
𝒂𝒊𝒏𝒔𝒕 =
𝒅𝒕

• Angular Acceleration is how

d the angular velocity changes
 inst  with time Units – rad/s2
dt • This is not the centripetal
acceleration – that tells about a
translational acceleration
Sample Problem
A DVD spins at an angular velocity of 3 rad/s and 5
seconds later is spinning at a velocity of 8 rad/s. Its
radius is 0.02 m. Find
(a) Angular acceleration, 
∆𝜔 𝜔𝑓−𝜔𝑖
 = = =
∆𝑡 ∆𝑡
(a) Tangential acceleration, aT

(a) Centripetal acceleration, ac, at your final angular

velocity
P.O.D. 3: A jet awaiting clearance for takeoff is
momentarily stopped on the runway. The fan blades are
rotating with an angular velocity of 110 rad/s, where the
negative sign indicates a clockwise rotation. As the
plane takes off, the angular velocity of the blades
reaches 330 rad/s in a time of 14 s.
(a) Find the angular acceleration, assuming it to be
constant.
(b) Find the tangential acceleration, if the fan blade has
a radius of 1.5 m.
Centripetal Acceleration
A pendulum is swinging back and
forth.
At the bottom of the swing the
force of gravity is pulling it
downwards but it doesn’t fall down.
This means there must be a force
pulling upwards to balance it out.
Fc This is the centripetal force.
Since F = ma, the center-seeking
acceleration is called centripetal
Fg acceleration and is given by:
2
v
a   r
c
2

r
Tangential Acceleration Derivation of
Acceleration
vT   r
dvT d
 r Take the derivative of each side of
v =  r with respect to t.
dt dt
dvT 𝐝
r Substituting  =
𝐝𝐭
dt
aT   r Substituting a =
dv
dt
Tangential Acceleration vs. Angular Acceleration
vs. Centripetal Acceleration
• The net acceleration is the sum
of the tangential and
centripetal accelerations.
2
v
ar  ac   r
2

r
aT = r

a  a a 2
r
2
t
Sample Problem
A compact disk rotates about an axis
through its center according to
1 3
( t )  t  6 t
3
(a) Determine its angular velocity and angular
acceleration at time t = 5 seconds.
Ans. To find the angular velocity, take the first derivative.
To find the angular acceleration, take the second derivative
d
' ( t )     t  6  (5)  6  19 rads
2 2

dt s
d
' ' ( t )     2 t    2(5)  10 rads 2
dt s
Sample Problem (Cont.)
A compact disk rotates about an axis
through its center according to
1
( t )  t 3  6 t
3
(a) What is the linear speed of a point 20 cm from the
center at t = 5 s?
(b) What is the linear acceleration at 0.5 m at t = 5 s?
Ans.
To find the linear speed, use the relationship, where (5) we
obtained from the previous slide:
v = r = (19 rad/s)(0.20 m) = 3.8 m/s.
To find the linear acceleration, use the relationship
ac = 2r = (19 rad/s)2(0.20 m) = 72.2 m/s2
P.O.D. 4: The gyroscope of a plane is spinning
according to 𝜽 𝒕 = 𝟑𝒕𝟑 + 𝟔𝒕𝟐  ½t.
(a) Find the average angular velocity of the gyroscope between t
= 2 s and t = 5 s.
(b) Find the instantaneous angular acceleration at t = 2 s.
(c) Find the linear speed, vT, at t =
2 s of a point on the gyroscope
if it has a radius of 0.05 m.
(d) Find the linear (tangential)
acceleration, aT, at t = 2 s of
the gyroscope.
(e) Find the centripetal
acceleration, ac, of a point on
the edge of the gyroscope.
 Constant Angular Acceleration

• Our kinematics equations have angular

equivalents
• Just as with their linear counterparts, these only
work for constant acceleration
 First Kinematic Equation

• v = vo + at (linear form)
– Substitute angular velocity for linear velocity.
– Substitute angular acceleration for linear
acceleration.
•  = o + t (angular form)
 Second Kinematic Equation

• x = xo + vot + ½ at2 (linear form)

– Substitute angle for position.
– Substitute angular velocity for linear velocity.
– Substitute angular acceleration for linear
acceleration.
•  = o + ot + ½ t2 (angular form)
 Third Kinematic Equation

• v2 = vo2 + 2a(x  xo)

– Substitute angle for position.
– Substitute angular velocity for linear velocity.
– Substitute angular acceleration for linear
acceleration.
• 2 = o2 + 2(  o)
Sample Problem
An automobile starts from rest and for
20.0 s has a constant linear
acceleration of 0.8 m/s2 to the right.
During this period, the tires do not slip.
The radius of the tires is 0.330 m. At
the end of the 20.0 s interval what is
the angle through which each wheel
has rotated?
Ans. The angular acceleration can be found from the formula
𝒎
𝒂 𝟎.𝟖 𝟐
a = r  𝜶 =  𝜶 = 𝒔
= 2.42 rad/s2
𝒓 𝟎.𝟑𝟑𝟎 𝒎
The angular acceleration should be negative because the tire
spins clockwise.
To find the angular displacement:
(t) = ot + ½t2 = 0(20 s) + ½(2.42 rad/s2)(0.20 s)2 = 484 rad
P.O.D. 5: The blades of an electric
blender are whirling with an angular
velocity of +375 rad/s while the puree
button is pushed in. When the blend
button is pressed, the blades
accelerate and reach a greater angular
velocity after the blades have rotated
through an angular displacement of
+44.0 rad (seven revolutions). The
angular acceleration has a constant
value of +1740 rad/s2.
(a) Find the final angular velocity
of the blades.
(b) Find the angular displacement
of the blades after 10
seconds.
(c) Find the change in tangential
velocity of the blades from the
puree to the blend position if
they have a radius of 0.02 m.
 ANGULAR
MOMENTUM!, INERTIA,
ETC.
 Angular Momentum
Angular momentum depends on linear momentum and the distance
from a particular point. It is a vector quantity with symbol L. If r
and v are  then the magnitude of angular momentum w/ resp. to
point Q is given by L = rp = mvr. In this case L points out of the
page. If the mass were moving in the opposite direction, L would
point into the page. The SI unit for angular momentum is the
kg  m2 / s. (It has no special name.)
Angular momentum is a conserved
quantity. A torque is needed to change L,
v just a force is needed to change p.
Anything spinning has angular has angular
momentum. The more it has, the harder it
r m is to stop it from spinning.

Q
 Angular Momentum: General Definition
If r and v are not  then the angle between
these two vectors must be taken into account. The
general definition of angular momentum is given
by a vector cross product:

L = r p
This formula works regardless of the angle. From cross products, the magnitude of the
angular momentum of m relative to point Q is: L = r p sin = m v r. In this case, by the
right-hand rule, L points out of the page. If the mass were moving in the opposite
direction, L would point into the page.


r m

Q
Moment of Inertia vs. Angular Momentum
Any moving body has inertia. (It wants to keep moving at constant
v.) The more inertia a body has, the harder it is to change its linear
motion. Rotating bodies possess a rotational inertia called the
moment of inertia, I. The more rotational inertia a body has, the
harder it is change its rotation. For a single point-like mass w/ respect
to a given point Q, I = m r 2. For a system, I = the sum of each mass
m times its respective distance from the
point of interest.
r
m2
Q m1
r1
I= mr2 r2
Q

I = m r 2 = m r 2 + m r 2
Moment of Inertia of various shapes
 Moment of Inertia Example
Two merry-go-rounds have the same mass and are spinning with the
same angular velocity. One is solid wood (a disc), and the other is a
hollow metal ring. Which has a bigger moment of inertia relative to
its center of mass?

r r

 
m
m

Ans. I is independent of the angular speed. Since their

masses and radii are the same, the ring has a greater
moment of inertia. This is because more of its mass is
farther from the axis of rotation. Since I is bigger for the
ring, it would more difficult to increase or decrease its
angular speed.
 Torque & Angular Acceleration
Newton’s 2nd Law, as you know, is Fnet = m a

The 2nd Law has a rotational analog:  net = I 

A force is required for a body to undergo acceleration. A “turning force”
(a torque) is required for a body to undergo angular acceleration.

The bigger a body’s mass, the more force is

required to accelerate it. Similarly, the
bigger a body’s rotational inertia, the more
torque is required to accelerate it angularly.
Both m and I are measures of a body’s
inertia
(resistance to change in motion).
Example: The torque of an Electric Saw Motor
The motor in an electric saw brings the circular
blade up to the rated angular speed of 80.0 rev/s
in 240.0 rev. One type of blade has a moment of
inertia of 1.41 x 10-3 kgm2. What net torque
(assumed constant) must the motor apply to the
blade?
Ans. First we need to convert our values into rad/s for calculation
purposes.
   o t
240 rev x 2p = 1508 rads ? 80 revs/s x 2p = 503 rad/s 0 rad/s ?

We can find the angular acceleration from 2 = o2 + 2

2 −o2 (503 rad/s)2−02
Solving for :  = = = 83.89 rad/s2
2 2(1508 rad/s)
 = I  = 1.41 x 10-3 kgm2 83.89 rad/s2 = 0.118 Nm
P.O.D. 6: A Chinese star of mass 0.025 kg and radius 0.03 m is
thrown by Dwight from The Office at his adversary, Jim Halpert.
The Chinese star is thrown from rest. If its final angular velocity is
15 revs/s after 3 sec,
(a) find the angular acceleration of the Chinese star (in rad/s2).
(b) Find the torque of the Chinese star (Assume the Chinese star is
hoop-shaped).
 Linear Momentum vs. Angular Momentum
If a net force acts on an object, it must accelerate, which means its
momentum must change. Similarly, if a net torque acts on a body, it
undergoes angular acceleration, which means its angular momentum
changes. Recall, angular momentum’s magnitude is given by

L = mvr (if v and r are perpendicular)

v So, if a net torque is applied, angular velocity must

r m change, which changes angular momentum.

Proof:  net = r  Fnet = r m a

Dv DL
= rm t =
t
So net torque is the rate of change of angular momentum, just as net
force is the rate of change of linear momentum.
continued on next slide
 Linear & Angular Momentum (cont.)

Here is yet another pair of similar equations, one linear,

one rotational. From the formula v = r , we get

L = mv r = m  (  r) r = m  r 2  = I  
This is very much like p = mv, and this is one reason I is
defined the way it is.
In terms of magnitudes, linear momentum
is inertia times speed, and angular
momentum is rotational inertia times
angular speed.

L = I 
p = m v
 Comparison: Linear & Angular Momentum
Linear Momentum, p Angular Momentum, L
• Tendency for a mass to continue • Tendency for a mass to continue
moving in a straight line. rotating.
• Parallel to v. • Perpendicular to both v and r.
• A conserved, vector quantity. • A conserved, vector quantity.
• Magnitude is inertia (mass) • Magnitude is rotational inertia
times speed. times angular speed.
• Net force required to change it. • Net torque required to change it.
• The greater the mass, the greater • The greater the moment of
the force needed to change inertia, the greater the torque
momentum. needed to change angular
momentum.
 Example: Spinning Ice Skater
Suppose Mr. Stickman is sitting on a stool that swivels holding a pair of
dumbbells. His axis of rotation is vertical. With the weights far from that axis,
his moment of inertia is 600 kgm2 and he is spinning at an angular velocity of
20 rad/s. When he pulls his arms in as he’s spinning, the weights are closer to the
axis, so his moment of inertia gets to
400 kgm2. What will be his angular
velocity at this moment?

Ans.

I  = L = I 
600 kgm2(20 rad/s) = 400 kgm2
12,000 = 400
30 rad/s = 
P.O.D. 7: An artificial satellite
(m = 1500 kg) is placed into an
elliptical orbit about the earth.
Telemetry data indicate that its
point of closes approach (called
the perigee) is rp = 8.37 x 106 m
from the center of the earth,
while its point of greatest
distance (called the apogee) is
rA = 25.1 x 106 m from the
center of the earth. The speed
of the satellite at the perigee is
vp = 8450 m/s.
(a) Find its speed vA at the
apogee.
(b) Find its angular momentum
at any point in its orbit.
 Rotational Kinetic Energy
• A particle in a rotating object has rotational
kinetic energy:

Ki = ½ mivi2, where v =  r
i i (tangential velocity)

The whole rotating object has a rotational

kinetic energy given by:
1 2 2
K R   K i   mi ri 
i i 2

1 2 2 1 2
K R    mi ri   I 
2 i  2
 Rotational Kinetic
Energy example:
A thin walled hollow cylinder (mass
= mh, radius = rh) and a solid
cylinder ( mass = ms, radius = rs)
start from rest at the top of an
incline. Both cylinders start at the
same vertical height ho. All heights
are measured relative to an
arbitrarily chosen zero level that
passes through the center of mass of a cylinder when it is at the
bottom of the incline. Ignoring energy losses due to retarding
forces, determine which cylinder has the greatest translational
speed upon reaching the bottom.
 Rotational Kinetic Energy example (cont.):
Ans. At the top of the incline the cylinder have only gravitational potential
energy. At the bottom of the incline this energy has converted into
translational kinetic and rotational kinetic energy.
Ein = Eout
GPEin = TKEout + RKEout
mgh = ½mvf2 + ½If2
𝐯
The angular velocity  can be related to the linear velocity vf by f = 𝐟
𝐫
Substituting the given values and for the angular velocity:
𝐯
mhgho = ½mhvf2 + ½I( 𝐟 )2
𝐫𝒉
For the hollow cylinder, the moment of inertia is given by: I = mr2
v
Substituting: mhgho = ½mhvf2 + ½(mhrh2)( f )2
rℎ
𝐯
Simplifying: gho = ½vf2 + ½rh2( 𝐟 )2
𝐫𝒉
𝐯 𝟐
gho = ½vf2 + ½rh 
2 𝒇
𝒓𝒉 𝟐
gho = ½vf2 + ½𝐯𝒇 𝟐
gho = vf2

𝐠𝐡𝐨 = vf
 Rotational Kinetic Energy example (cont.):
Ans. At the top of the incline the cylinder have only gravitational potential
energy. At the bottom of the incline this energy has converted into
translational kinetic and rotational kinetic energy.
Ein = Eout
GPEin = TKEout + RKEout
mgh = ½mvf2 + ½If2
𝐯
The angular velocity  can be related to the linear velocity vf by f = 𝐟
𝐫
Substituting the given values and for the angular velocity:
𝐯
msgho = ½msvf2 + ½I( 𝐟)2
𝐫𝒔
For the solid cylinder, the moment of inertia is given by: I = ½mr2
v
Substituting: msgho = ½msvf2 + ½(½msrs2)( f)2
r𝑠
𝐯
Simplifying: gho = ½vf2 + ½ ½rs2( 𝐟)2
𝐫𝒔
𝐯 𝟐
gho = ½vf2 + ¼rs  2 𝒇
𝒓𝒔 𝟐
gho = ½vf2 + ¼𝐯𝒇 𝟐
gho = ¾vf2
𝟒
𝐠𝐡𝐨 = vf
𝟑
PROBLEM 8: