Module No.

3
Angular Motion
Prepared By: Engr. Mark Joseph Rivera
Recall: RECTILINEAR MOTION

VA VB

XA XB

𝐷𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 = 𝑋𝐴 − 𝑋𝐵 𝐶ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 ∆𝑉

𝐴𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 = =
𝑡𝑖𝑚𝑒 ∆𝑡
𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡 ∆𝑑
𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 = =
𝑡𝑖𝑚𝑒 ∆𝑡
Angular Motion or Rotation
𝑤1 𝜃 = angular position
1

Motion of a body about a fixed axis (on a fixed point).

Angle made during the motion of the body about the
fixed axis. It is equal to the angle passed over at the
point o axis by a line drawn from the given fixed axis of
rotation.
Uniform Motion 𝜃
𝜃 = 𝑤𝑡
Where:
𝜃 = Angular Displacement, rad or rev
𝑤 = Angular Velocity, rps, rpm
𝑡 = Time, seconds
𝑤2

𝜃2 = angular position
 B
Uniform Acceleration Linear Velocity = angular velocity (radius)

𝑤2 − 𝑤1 𝑉 = 𝑤𝑅 A
𝛼=
𝑡
𝑤A = 𝑤B
1 2
𝜃 = 𝑤1𝑡 + 𝛼𝑡 VA < VB
2
Period is the time it takes to make a full
𝑤2 2= 𝑤1 2+ 2𝛼𝜃 complete cycle (seconds)

Frequency The number of cycles that occurs in

Where: one second (Hertz)
𝑟𝑎𝑑 𝑟𝑒𝑣
𝛼 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛, 𝑠𝑒𝑐2 , 𝑠𝑒𝑐2
1 1
𝑃𝑒𝑟𝑖𝑜𝑑 = , 𝑇 = , 𝐻𝑧
𝐹𝑟𝑒𝑞𝑢𝑒𝑛𝑐𝑦 𝑓

Also,

𝑤 = 2𝜋𝑓
Or,

2𝜋
𝑤=
𝑇
Centripetal and Tangential Acceleration

Centripetal acceleration, property of the motion of a Tangential Acceleration is the measure of

AT
body traversing a circular path. The acceleration is how quickly a tangential velocity Anet
directed radially toward the center of the circle and changes. Here tangential velocity will work
has a magnitude equal to the square of the body’s in the direction of a tangent at the point
speed along the curve divided by the distance from of motion. Therefore it always acts in the
the center of the circle to the moving body. The force perpendicular direction to the centripetal
AC
causing this acceleration is directed also toward the
acceleration of a rotating object.
center of the circle and is named centripetal force.
𝑚
𝐴𝑇 = 𝛼𝑅,
𝑉2 𝑚 𝑠𝑒𝑐2
𝐴𝑐 = ,
𝑅 𝑠𝑒𝑐2 ∆𝑤
But, V = wR 𝐴𝑇 =
∆𝑡
𝑤 2𝑅 2 Anet
𝐴𝑐 = = 𝑤 2𝑅 Relationship,
𝑅
AT
𝐴𝑛𝑒𝑡 = 𝐴𝑐2 + 𝐴𝑇2
Note: if the object has constant speed the only
acceleration it has is centripetal acceleration. AC
If angular velocity is constant,

𝐴𝑛𝑒𝑡 = 𝐴𝑐
Sample Problem No. 1

A wheel speeds up to 30 rad/sec from rest in 5 seconds. What is the average angular acceleration?

Solution:

𝑟𝑎𝑑 𝑟𝑎𝑑
𝑤𝑓 − 𝑤0 30 −0
𝛼= = 𝑠𝑒𝑐 𝑠𝑒𝑐
∆𝑡 5 𝑠𝑒𝑐

𝑟𝑎𝑑
𝛼=6
𝑠𝑒𝑐2
Sample Problem No. 2

A disk with a diameter of 30 cm spins at a constant rate 15cm

of 40 rad/sec. a.) What is the linear velocity of a point at
the edge of the disk? B.) What is the radial acceleration
of the disk?

Solution:

a. Linear Velocity
b. Radial Acceleration
𝑉 = 𝑤𝑅
𝑚 2
𝑉2 6
40𝑟𝑎𝑑 0.15𝑚 𝐴𝑐 = = 𝑠𝑒𝑐2
𝑉= 𝑅 0.15 𝑚
𝑠𝑒𝑐 𝑟𝑎𝑑
𝑚
𝑚 𝐴𝑐 = 240
𝑉=6 𝑠𝑒𝑐2
𝑠𝑒𝑐
Sample Problem No. 3 Solution:

The pinion A of the hoist motor drives gear B, which is a. The acceleration of point C on the cable in contact
with the drum.
attached to the hoisting drum. The load L is lifted from
its rest position and acquires an upward velocity of 3 Say slip and friction is constant, the linear velocity of load L
ft/sec in a vertical rise of 4 ft with constant acceleration. is the same tangential velocity experienced at point C.
As the load passes this position, compute (a) the
acceleration of point C on the cable in contact with 𝐴𝑛𝑒𝑡𝐶 = 𝐴𝑐2 + 𝐴𝑇2
the drum and (b) the angular velocity and angular
acceleration of the pinion A.

3 ft/sec
𝐴𝐿 = 𝐴𝑇
And,

𝑉22 = 𝑉12 + 2aS

(3𝑓𝑡/sec)2 = 2𝑎(4𝑓𝑡)
𝑎 = 𝐴𝐿 = 𝐴𝑇 = 1.125 𝑓𝑡/sec2
Solving for Ac b. The angular velocity and angular acceleration of pinion A.

𝑉2 Note: the angular acceleration of pinion A varies with its

𝐴𝑐 = relationship with gear B
𝑅
The radius of hoist drum C is 24 inches 𝛼𝐴 𝑅𝐴 = 𝛼𝐵 𝑅𝐵
3𝑓𝑡 2 And,
𝑠𝑒𝑐
𝐴𝑐 =
1 𝑓𝑡 𝑤𝐴 𝑅 𝐴 = 𝑤𝐵 𝑅 𝐵
24𝑖𝑛𝑥 12 𝑖𝑛
Solving for 𝛼𝐵 and 𝑤𝐵
𝑓𝑡
𝐴𝑐 = 4.5
𝑠𝑒𝑐2 Since hoist drum C and gear B are on the same shaft, therefore
Therefore, their tangential acceleration and velocities are the same,
𝐴𝑛𝑒𝑡𝐶 = (4.5)2 + (1.125)2
3𝑓𝑡/𝑠𝑒𝑐
𝑤𝐶 = 𝑤𝐵 =
𝑓𝑡 1𝑓𝑡
𝐴𝑛𝑒𝑡𝐶 = 4.64 24𝑖𝑛
12 𝑖𝑛
𝑠𝑒𝑐2
𝑟𝑎𝑑
𝑤𝐵 = 1.5
𝑠𝑒𝑐
And,
𝑤𝐴 𝑅𝐴 = 𝑤𝐵 𝑅𝐵
𝐴𝑇 = 𝛼𝑅
6𝑖𝑛 1.5𝑟𝑎𝑑 18𝑖𝑛
𝑤𝐴 =
𝑓𝑡 24𝑖𝑛 12 𝑠𝑒𝑐 12𝑖𝑛
1.125 = 𝛼 𝑓𝑡
𝑠𝑒𝑐2 12𝑖𝑛
𝑟𝑎𝑑
𝑤𝐴 = 4.5
𝑟𝑎𝑑 𝑠𝑒𝑐
𝛼𝑐 = 𝛼𝐵 = 0.562
𝑠𝑒𝑐2
Using,

𝛼𝐴 𝑅𝐴 = 𝛼𝐵 𝑅𝐵
And,

𝑤𝐴 𝑅 𝐴 = 𝑤 𝐵 𝑅 𝐵

6𝑖𝑛 0.5625𝑟𝑎𝑑 18𝑖𝑛

𝛼𝐴 =
12 𝑠𝑒𝑐2 12𝑖𝑛
𝑟𝑎𝑑
𝛼𝐴 = 1.688
𝑠𝑒𝑐2