ELEMENTS OF KINEMATICS AND

DYNAMICS OF CIRCULAR AND

ROTATIONAL MOTION

Physics

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Circular and rotational motion
In purely rotational motion, all points on the
object move in circles around the axis of
rotation (“O”). All points on a straight line
drawn through the axis move through the
same angle together. The angle θ in radians
is defined:

where l is the arc length.

circular motion: motion in a2 circle

What is circular movement?
• Circular movement is an example of movement occurring in two
dimensions. At which path is the circle.
• In general, of course, this traffic can be arbitrarily fast or arbitrarily
variable. Examples of circular motion are, e.g., the movement of a
point on a gramophone record or on an airplane propeller.
• The simplest case of circular motion is uniform circular motion.

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Uniform motion in a circle ω = const

• If the angular velocity of a point moving in a circle does not change,

then the movement is called a uniform motion in a circle.
• the linear speed does not change in such motion.
• in uniform motion along a circle, the acceleration (as a vector) is not
equal to zero, although the velocity value does not change.
• This is because the direction of speed is constantly changing - the
speed must be constantly curved to the center of the circle.

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Uniform circular motion
motion in a circle of constant radius at
constant speed

q = w× t
(w=constant)

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Frequency and period
In the description of uniform rotation, the frequency and
period of rotation are also used.
The frequency - the number of complete revolutions per
second:

Frequencies are measured in Hertz:

The period - The time it takes the body to complete a full cycle is
called the period and is marked with the symbol T. The value of
the period can be calculated from the formula:
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In the case of circular motion, there are two
types of speed :
Linear velocity in a circular motion, the body spans the same arc
sections at equal intervals. It follows that this is a type of uniform
motion in which the formula for speed is (v) expressed by the
∆"
following : v= , where Δs - road increment, t - road travel time
∆#

Angular velocity, equal to: ( ∆𝝰 - angle increment

expressed in radians)

if the body makes one full turn, it will make the way
and circle the angle ∆𝝰=2𝛑

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The formulas for linear velocity and angular
velocity for a full circle will therefore be as follows
where T - movement period (duration of one
revolution)

Multiplying both sides of the last equation by r, we get:

The right side of this equation is linear velocity, so the relationship between
linear velocity and angular velocity is as follows:

The above equation shows that the further the body is from the axis of rotation (the
greater r is), the greater the value of the linear velocity is, because the value of the
angular velocity does not depend on the radius of the circle
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Linear path, Angular path
• a point moving in a circle marks a certain arc called a linear path and
the leading radius of this point draws an angle called the angular path

r, r1 - incoming rays
s, s1 - linear path
𝝰 - angular path Unit of plane angle arc is defined as a
measure of the center angle where the
length of the arc defined by the central
angle is equal to the circle's radius. A
derived unit of the SI derived unit.

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Angular path
According to the determination of the arc measure of the angle 𝝰, we
have:
𝑆 = 𝝰*r
The linear path s of any point of a rotating body is equal to the product of the angular path a and its leading
radius r.

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Radian
• radians is an arc measure of the angle

"
𝝰=
*

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Angular displacement
When an object rotates from some initial position, specified by angle θ1 to
another specified by angle θ2, its angular displacement will be Δ θ.

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 Angular velocity
• When moving along a circle along the traveled path ∆L, the angle at
which the moving object ∆α is observed changes, so it is advisable to
enter a value characterizing the speed of the angle change. The
magnitude of this kind is angular velocity. We denote it ω omega
• The angular velocity is equal to the angle circled during the
movement divided by time

2p
w=
T

[ω] = rad/s = 1/s

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Relationship between linear speed and
angular velocity
Every point on a rotating body has an angular velocity
ω and a linear velocity v.

v = w× r
or
v
w=
r

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Angular velocity ω and a linear velocity

Therefore, objects farther from

the axis of rotation will move
faster.

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Angular acceleration
The velocity vector changes its direction at any moment. So there must be some
acceleration that changes this speed. The value of this velocity does not change, so the
acceleration must act to change direction but leave the value the same as it is. We denote
the centripetal acceleration with the symbol aR
The angular acceleration is the rate at which the angular velocity changes with time:

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1. Express the following angles in radians.
𝟐,∗𝟑𝟎º 𝟐, ,
1. 30º 2𝛑-360 ∘ x=
𝟑𝟔𝟎º
=
𝟏𝟐
=
𝟔
X-30∘

𝟐,∗𝟔𝟎º 𝟐, ,
2. 60º x= = =
𝟑𝟔𝟎º 𝟔 𝟑

𝟐,∗𝟏º 𝟐, ,
3. 1º x= = =
𝟑𝟔𝟎º 𝟑𝟔𝟎 𝟏𝟖𝟎

𝟐,∗𝟐𝟔𝟓º 𝟐,∗𝟓𝟑 𝟓𝟑,

4. 265º x= = =
𝟑𝟔𝟎º 𝟕𝟐 𝟑𝟔

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2. The cyclist rides the bicycle at speed= 20 km/h.
Calculate time necessary to travel 1500m.

Given: Unknown:
v=20 km/h t=?
S=1500m =1.5 km

Solution:
6 6
V= t =
# 7

8.:
t= = 0.075ℎ = 4ℎ 40𝑚𝑖𝑛
;<

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4. Suppose the wheels on your bicycle are 50 cm in diameter, and the
wheels are turning at 4 revolutions per second. How fast are you
traveling?

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5. Determine the angular velocity of the centrifuge allowing to obtain
centripetal acceleration = 100m/s2. The centrifuge radius=100 cm.

Given: Unknown:
ar=100 m/s2 𝜔=?
r=100 cm=0.1m
Solution:
;
ar= FGHI
*

JK
𝜔2=
*

𝜔= 𝑎𝑅 /r
8<<
𝜔=
<.8

𝜔=31.6 rad/s
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6. What is the linear speed of a child of mass 25 kg seating 1.5 m from the centre of a
steadily rotating carousel that makes one complete revolution in 4.0 s?
What is the value of the centripetal acceleration and force affecting the child?

Given: Unknown:
R=1.5 m ac=? and Fc=?
M=25 kg
;, ,
1rp 4 s 𝜔= = [rad/s]
Q6 ;6
Solution:
Using the formulas ac=𝜔2*R and Fc=m*ac

Fc= m*𝜔2*R
, ,𝟐
Fc= 25kg*( rad/s)2*1.5m = 37.5* 1/s2*kg*m = 92.4 N
𝟐𝒔 𝟒𝒔
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7. Determine the linear speed of satellite located 10 000 km from the
center of the earth allowing it to stay at a certain geographical position.

Given: Unknown:
R=10 000 km v=?

Solution:
1 revolution (360o= 2𝜋 rad) within 1 day=24 h= 24·3600 s=86400 s
Knowing the angular velocity we can find the linear velocity from the
equation:
v=𝜔*R
;,
v= * 10000000m = 727m/s
UVQ<<6

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8. A wheel 30 cm in diameter rotates at 1200 rpm (revolutions per minute).
Calculate:
a) its angular velocity in rad/s,
b) linear speed of a point on the edge (rim) of the wheel

Given: Unknown:
R=15cm=0.15m 𝜔=?
1200 rpm v=?

Solution:
V=𝜔*R
;,
a. 𝜔=1200* = 40*𝜋 [rad/s]
V<6
b. v= 40*𝜋 [rad/s]*0.15 [m] = 19 m/s

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9. A car of 800 kg travels round a bend in the road with a speed of 120
km/h. The bend is an arc of radius 100 m. Calculate the force affecting
the car.

Given: Unknown:
m=800 kg Fc=?
v=120 km/h
R=100 m
Solution:
7;
from the formula Fc=m*ac where ac=
K
7;
Fc=m*
K
It means to obtain the base unit of force – [N] we should convert km/h to
m/s
8;<<<<W 2 8
Fc=800 kg*( )* = 5560 N
XV<6 8<<W

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9. A pilot of a fighter turns the direction of flight by 180º during 20 s
with the
centripetal acceleration of 4g. Calculate the linear speed of the plane.

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 10. A ball of mass=500 g connected to a metal cord is rotating in horizontal plane
(ignore the influence of gravity force) at 600 rpm. The length of cord = 1m.
Calculate the tension in the cord.
Given: Unknown:
m=500g = 0.5 kg tension=Fc =?
Rpm=600
R=1m

Solution
We know that
7;
ac= but in this case this one is better ac=𝜔2*R
K
The rpm is given so 𝜔 is given too

𝟔𝟎𝟎∗𝟐,
𝜔= = 10𝜋 rad/s
𝟔𝟎𝒔

Then we see that:

ac= (10𝜋 rad/s)2*0.1 m = 986 rad/s2

and the tension Fc=ac*m = 986 rad/s2*0.5 kg = 493 N
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Torque
To make an object start rotating, a force is needed; the position and
direction of the force matter as well.
The perpendicular distance from the axis of rotation to the line along
which the force acts is called the lever arm.

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 Torque
Torque (t) – moment of force: force that produces or tends
to produce rotation

F !" !"
t = R ´ F [ N × m]
!" !"
R a t = R × F × sin a

R - the lever arm vector (vector between point of rotation and the point where force is applied)
a - is the angle between the force vector and the lever arm vector
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 What determines the value of the force
moment vector?
• 𝑀=𝑟×𝐹 𝑀 = 𝑟 · 𝐹 · sin(𝑟, 𝐹)

application point (distance from the axis of rotation)

application method (angle α)

strength values

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Torque (t) – moment of force

• The direction and turn of the moment of

force vector are determined by the right hand
rule. The thumb indicates the direction in which the force acts, and
the bent remaining fingers will indicate the direction and direction of
the vector
• Contract: counterclockwise rotation - we take
the moment of strength as positive.
• The moment of any force passing through the
center of rotation is always zero! 30
YOU CAN DISTINGUISH THE FOLLOWING
COMPONENTS IN EVERY LEVER:
• Support point (axis of rotation) around which rotation occurs. In the human body,
the equivalent of a support point is the joint in which movement occurs.
• Arm force exerted as a result of muscle contraction - it is the distance between
the support point (axis of rotation - set) and the point of application of force - this
point is the muscle attachment.
• Obtained force arm - the distance between the support point and the point
where the external force acts, e.g. weight to be balanced or lifted by this arm.

• Lever gear ratio (mechanical gain): ratio of the length of the force arm exerted to
the arm of the obtained force or the ratio of the value of the force obtained to
the value of the force exerted.

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 DOUBLE-SIDED LEVER
Lever equation (moments of leverage!)

The condition of balance of forces in the vertical direction (z axis z)

support
point

force obtained
force exerted
So when we have support point somewhere other than the baginning and the end we use
the condition of balance force.
according to the right hand principle, we can see that f1 is counterclockwise. F2 compliant.
therefore its value is negative
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Torque

A longer lever arm is very

helpful in rotating objects.

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11. Calculate the value of torque acting on the point A.

𝜏 = R*F
𝜏= |R|*|F|*|sin𝝰|

a. sin90º=1. 𝜏 = 2*150*1 = 300 N

b. sin 180º = 0 𝜏= 2*50*0 = 0 N

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12. Knowing that the system in the graph is balanced find F1
Because the net torque =0

Given: Unknown:
R1 =2m F1=?
R2 = 5m+2m = 7m
F2= 150N
Support point
(Fb) = 0
St = 0 𝜮M = -MF1+MF2+MFb =0

-F1*7m*150N*2+0=0

-F1*7m+300 N*m=0

X<< ^∗W
F1=
_W

F1=42.86 = 43N

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13. Calculate the force necessary to balance the weight of the
object placed on the left end of the beam

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14. Determine the values ​of FA force acting on the shelf P from
the supports A and B side
Fp= 50kg*10m/s2 = 500 N
Fs = 200 kg* 10m/s2 = 2000 N
FB= 0 N

FA-Fp-Fs-FB=0
FA-2500N+FB=0

𝜮M= MFA+MFp+MFs+MFb
-10 m*Fa+500 N*5m+2000N*2.5m+0 =0
10m*Fa=7500N*m
Fa=750N

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