Rotational Motion &

Angular Momentum
 Rotational Motion
Every quantity that we have studied with
translational motion has a rotational
counterpart
TRANSLATIONAL ROTATIONAL
Displacement x Angular Displacement 
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
 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
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: A Boy
on a horse is
hunting a goose
around a strange
world of radius 25
m. The angular
separation
between the
hunter/hunted is a
constant 5. What
is the angular
distance (in m)
between the
boy/horse and the
goose?
 s vT
Speed and velocity

• The same particle rotates with an D r

avg. angular velocity given by
vT
D𝛉
=
•
D 𝐭
Linear (Tangential) and angular
speeds are related by the
equation

v = r
Angular Velocity
Compare to
∆𝒙
𝒗𝒂𝒗𝒈 =
D ∆𝒕

avg 
Dt Units – rad/s, rev/s
Direction – Same as
displacement
(positive is
counterclockwise,
negative is
clockwise)
EXAMPLE: A space station ring of radius 500 m
spins twice in 12 minutes.

(a) Find its angular velocity

(in rads/s).
(b) Find the linear
(tangential) velocity (in
m/s) of a point on the outer
edge of the ring.

Ans. (a) Twice means two revolutions = 2(2p) = 4 p radians

𝜃 4𝜋
 = 𝑡 = 12 min × 60 𝑠𝑒𝑐 = 0.017 rad/sec
Τ𝑚𝑖𝑛
(b) tangential velocity, vT = r = 0.017 (500 m) = 8.73 m/s
P.O.D. 2: A figure skater spins through five
revolutions in a time of 2.4 s.

(a) Find her angular velocity (in rads/s).

(b) Find the linear (tangential) velocity (in m/s) of her
foot if it is 0.3 meters away from her body.
 s vT
Acceleration

• The same particle rotates with an D r

avg. angular acceleration given
by vT

D
=
•
D 𝐭
Linear (Tangential) and angular
accelerations are related by the
equation

a = r
Angular Acceleration
D
 avg 
Compare to
∆𝒗
𝒂𝒂𝒗𝒈 =

Dt
∆𝒕

• Angular
Acceleration is
how the angular
velocity changes
with time

Units – rad/s2
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
Sample Problem
A compact disk rotates about an
axis according to the formula:
(t) = t2 – 6

(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.
(a) To find the linear speed, use the relationship, where (5)
we obtained from the function (t) = t2 – 6  (5) = 52 –6=19
v = r = (19 rad/s)(0.20 m) = 3.8 m/s.
(b) To find the linear acceleration, use the relationship
ac = 2r = (19 rad/s)2(0.20 m) = 72.2 m/s2
P.O.D. 3: Diana Prince starts rotating with an angular
velocity of 5 rad/s, where the negative sign indicates a
clockwise rotation, to transform into Wonder Woman.
After 5 seconds she has completed the transformation
and her angular velocity is 2 rad/s.
(a) Find Wonder
Woman’s angular
acceleration (in
rad/s2).
(b) Find the centripetal
acceleration (in m/s2)
of her indestructible
bracelets (at  = 2
rad/s) if they are 0.8
m away from her
body when she is
spinning.
 Constant Angular Acceleration
• Our kinematics equations have angular
equivalents
• Just as with their linear counterparts, these only
work for constant acceleration
 First Kinematic Equation
• x = vot + ½ at2 (linear form)
– Substitute angle for position.
– Substitute angular velocity for linear velocity.
– Substitute angular acceleration for linear
acceleration.

 = ot + ½ t2 (angular form)

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

 = o + t (angular form)
Sample Problem
A bicycle starts from rest and for 10.0
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 0.50 m. At the
end of the 10.0 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
= 1.6 rad/s2
𝒓 𝟎.𝟓𝟎 𝒎
The angular acceleration should be negative because the tire
spins clockwise.
To find the angular displacement:
(t) = ot + ½t2 = 0(10 s) + ½(1.6 rad/s2)(10 s)2 = 80 rad
P. O. D. 4: an extreme diver rotates at an angular velocity of +3.75 rad/s
while doing his first set of flips. When he does his second set of flips, he
accelerates and reaches a greater angular velocity of +4.4 rads/s. If his
angular acceleration is 1.7 rad/s2...
(a) How long does this flipping part of the dive take (in s)?
(b) Find his angular displacement after the time found in (a).
 ANGULAR
MOMENTUM!
 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
v name.) Angular momentum is a
conserved quantity. A torque is
needed to change L, just a force is
r m needed to change p. Anything
spinning has angular has angular
Q momentum. The more it has, the
harder it is to stop it from spinning.
 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
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
PROBLEM 6: A Chinese star of mass 0.025 kg and radius 0.03 m is
thrown by Bruce Lee at his adversary. 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.
(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 = 
PROBLEM 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: