Chapter 9 Rotational Motion and Angular Momentum
9.1 Rotation Angle and Angular Velocity
Summary
- Define arc length, rotation angle, radius of curvature and angular velocity.
- Calculate the angular velocity of a car wheel spin.
In 1D Kinematics, we studied motion along a straight line and introduced such concepts as displacement, velocity, and acceleration. 2D kinematics dealt with motion in two dimensions. Projectile motion is a special case of two-dimensional kinematics in which the object is projected into the air, while being subject to the gravitational force, and lands a distance away. In this chapter, we consider situations where the object does moves in a curve (a special case of this type of motion is uniform circular motion). We begin the study of rotational motion with rotation kinematics, and defining two angular quantities needed to describe this new type of motion.
Rotation Angle
When objects rotate about some axis—for example, when the CD (compact disc) in Figure 1 rotates about its center—each point in the object follows a circular arc. Consider a line from the center of the CD to its edge. Each pit used to record sound along this line moves through the same angle in the same amount of time. The rotation angle is the amount of rotation and is analogous to linear distance. We define the rotation angle Δθ to be the ratio of the arc length to the radius of curvature:
The arc length Δs is the distance traveled along a circular path as shown in Figure 2 Note that r is the radius of curvature of the circular path.
We know that for one complete revolution, the arc length is the circumference of a circle of radius r. The circumference of a circle is 2πr. Thus for one complete revolution the rotation angle is
This result is the basis for defining the units used to measure rotation angles, Δθ to be radians (rad), defined so that
A comparison of some useful angles expressed in both degrees and radians is shown in Table 1.
| Degree Measures | Radian Measure |
|---|---|
| [latex]30^0[/latex] | [latex]\dfrac{\pi}{6}[/latex] |
| [latex]60^0[/latex] | [latex]\dfrac{\pi}{3}[/latex] |
| [latex]90^0[/latex] | [latex]\dfrac{\pi}{2}[/latex] |
| [latex]120^0[/latex] | [latex]\dfrac{2\pi}{3}[/latex] |
| [latex]135^0[/latex] | [latex]\dfrac{3\pi}{4}[/latex] |
| [latex]180^0[/latex] | [latex]\pi[/latex] |
| Table 1. Comparison of Angular Units. |
If Δθ = 2π rad, then the CD has made one complete revolution, and every point on the CD is back at its original position. Because there are 360° in a circle or one revolution, the relationship between radians and degrees is thus
so that
Angular Velocity
How fast is an object rotating? We define angular velocity ω as the rate of change of an angle. In symbols, this is
where an angular rotation Δθ takes place in a time Δt. The greater the rotation angle in a given amount of time, the greater the angular velocity. The units for angular velocity are radians per second (rad/s). Angular velocity is often expressed in