Kinematics and Kinetics of

Rigid Bodies
WEEK 13
Learning Outcome

At the end of the lesson the students

should be able to _____________.
Fixed-Axis Rotation (Angular Motion)
is defined as the motion of the rigid body in which
the particles move in circular paths with their centers on a fixed straight
line that is called the . The planes of the circles in which
the particles move are perpendicular to the axis of rotation.
is the angle through which a rigid object
rotates about a fixed axis (radians, degrees, or revolution, but radian
measurement is preferred in order to correlate angular motion with
linear motion)
is the angular displacement of an object divided by
the time elapse (rad/s)
𝑑𝜃
𝜔=
𝑑𝑡
Fixed-Axis Rotation (Angular Motion)
is the change in angular velocity divided
by the time elapse. (rad/𝑠 2 )
𝑑𝜔 𝑑2 𝜃
𝛼= = 2
𝑑𝑡 𝑑𝑡

is the angular displacement of an object

divided by the time elapse (rad/s)
𝑑𝜃
𝜔=
𝑑𝑡
 , where 𝜃 is in radian
𝑠 = 𝑟𝜃
Since the radius r is constant, differentiating with respect to time
gives
𝑑𝑠 𝑑𝜃
= 𝑟 𝑣 = 𝑟𝜔
𝑑𝑡 𝑑𝑡
And as second differentiation, gives
𝑑𝑣 𝑑𝜔
= 𝑟 𝑎 = 𝑟𝛼
𝑑𝑡 𝑑𝑡
 the linear acceleration of a tangent
point on a rotating body (m/𝑠 2 )
𝑑𝑣
𝑎𝑡 = = 𝑟𝛼
𝑑𝑡

, 𝑣 = 𝑟𝜔
𝑣2
𝑎𝑛 = = 𝑟𝜔2 = 𝑣𝜔
𝑟
Example 1
A flywheel 6 ft in diameter accelerates from rest at the constant rate of 4 rpm per
sec. Compute the normal and tangential components of the acceleration of a
particle on the rim of the flywheel 10 sec.
Solution:
4 𝑟𝑒𝑣 1 𝑚𝑖𝑛 2𝜋 𝑟𝑎𝑑
𝛼= 𝑥 𝑥 = 0.42 𝑟𝑎𝑑/𝑠𝑒𝑐 2
𝑚𝑖𝑛 − 𝑠𝑒𝑐 60 𝑠𝑒𝑐 1 𝑟𝑒𝑣
𝑑𝜔 𝜔
𝛼= =
𝑑𝑡 𝑡
𝜔 = 𝛼𝑡 = 0.42 𝑟𝑎𝑑/𝑠𝑒𝑐 2 𝑥 10 𝑠𝑒𝑐 = 4.2 𝑟𝑎𝑑/𝑠𝑒𝑐
𝑎𝑛 = 𝑟𝜔2 = 3 𝑓𝑡 𝑥 (4.2 𝑟𝑎𝑑/𝑠)2 =
𝑎𝑡 = 𝑟𝛼 = 3 𝑓𝑡 𝑥 (0.42 𝑟𝑎𝑑/𝑠𝑒𝑐 2 ) =