09.

99 2 Formulas and equations

Comparison of the parameters for linear- and rotational motion

Linear motion Rotational motion

dv dω
a= [m/s2] acceleration α= [s-2] angular acceler.
dt dt
ds dϕ
dt ∫
v= = a ⋅ dt [m/s] velocity ω= = ∫ α ⋅ dt [s-1] angular velocity
dt

s = ∫ v ⋅ dt [m] distance ϕ = ∫ ω ⋅ dt [rad] angle

m [kg] mass J [kgm2] moment of inertia

F [N] force M [Nm] torque

F = m⋅ a [N] accelerating force M = J ⋅α [Nm] acceler. torque

P = F ⋅v [W] power P = M ⋅ω [W] power

W = F⋅s [Ws] work W = M ⋅ϕ [Ws] work

1 [Ws]
1 [Ws]
W= ⋅ m⋅ v 2 kinetic energy W= ⋅ J ⋅ω 2 rotational energy
2 2

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2 Formulas and equations 09.99

Example : Relationships between acceleration, velocity and distance for linear motion

Acceleration a Area corresponds to velocity v

Velocity v Area corresponds to distance s

Distance s

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09.99 2 Formulas and equations

Converting linear- into rotational motion

Example: Hoisting a load with constant velocity

s ϕ
r
ω, n

v velocity [m/s]
r roll radius [m]
t time [s]
v
ω= angular velocity [s-1]
r
ω v
n= ⋅ 60 = ⋅ 60 speed [RPM]
2⋅π 2⋅π⋅r
ϕ = ω ⋅t angle [rad]
s = v⋅t = ϕ⋅r distance [m]

m mass moved [kg]

F = m⋅ g hoisting force [N]
M = F ⋅r = m⋅ g ⋅r torque [Nm]
P = M ⋅ω = F ⋅v = m⋅ g ⋅v power [W]
W = F ⋅ s = M ⋅ϕ = m ⋅ g ⋅ s hoisting work [Ws]

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2 Formulas and equations 09.99

Example: Accelerating a mass on a conveyor belt with constant acceleration

a, v

m s
F

ϕ
r

ω, α

a acceleration [m/s2]
r roll radius [m]
t accelerating time [s]
a
α= angular acceleration [s-2]
r
v = a ⋅t = α ⋅r ⋅t velocity [m/s]
v
ω = = α ⋅t angular velocity [s-1]
r
ω v
n= ⋅ 60 = ⋅ 60 speed [RPM]
2⋅π 2⋅π⋅r
t2
ϕ = α⋅ angle [rad]
2
t 2
v ⋅t
s = a⋅ = distance [m]
2 2

m mass moved [kg]

F = m⋅ a accelerating force [N]
M = F ⋅r = m⋅a ⋅r accelerating torque [Nm]
P = M ⋅ω = F ⋅ v = m⋅a ⋅ v accelerating power [W]
1 1
W = F ⋅ s = M ⋅ ϕ = ⋅ m ⋅ v 2 = ⋅ m ⋅ r 2 ⋅ ω 2 accelerating work [Ws]
2 2

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09.99 2 Formulas and equations

Converting linearly moved masses into moments of inertia

The conversion is realized by equating the kinetic energy to the rotational energy, i. e.
1 1 v 2
⋅ m ⋅ v2 = ⋅ J ⋅ ω 2 and J = m ⋅( )
2 2 ω

Example: Conveyor belt

m v
v
ω=
r
r ω

J = m⋅r2 moment of inertia referred to the roll [kgm2]

m mass [kg]
r radius [m]

Example: Hoisting drive

ω
r

2v
2v
ω=
r

m v

1
J= ⋅ m⋅ r2 moment of inertia referred to the fixed roll [kgm2]
4
m mass [kg]
r fixed roll radius [m]

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