1. Angular Motion, General Notes
When a rigid object rotates about a fixed axis in a given time interval, every portion on the object rotates through the same angle in a given time interval and has the same angular speed and the same angular acceleration
So q, w, a all characterize the motion of the entire rigid object as well as the individual particles in the object

2. Directions, details
Strictly speaking, the speed and acceleration (w, a) are the magnitudes of the velocity and acceleration vectors
The directions are actually given by the right-hand rule. Reason: there is only ONE unique direction that can be used – the rotation axis.

3. Rotational Kinematics
Under constant angular acceleration, we can describe the motion of the rigid object using a set of kinematic equations
These are similar to the kinematic equations for linear motion
The rotational equations have the same mathematical form as the linear equations
The new model is a rigid object under constant angular acceleration
Analogous to the particle under constant acceleration model

4. Rotational Kinematic Equations
v = u + at
s = ut + ½ at2
v2 = u2 + 2as
xf= ½(vi + vf )t
All for constant a

5. Comparison Between Rotational and Linear Equations

6. Relationship Between Angular and Linear Quantities
Displacements
Speeds
Accelerations
Every point on the rotating object has the same angular motion
Every point on the rotating object does not have the same linear motion

7. Speed Comparison
The linear velocity is always tangent to the circular path
Called the tangential velocity
The magnitude is defined by the tangential speed
All points on the rigid object will have the same angular speed, but not the same tangential speed

8. Acceleration Comparison
The tangential acceleration is the derivative of the tangential velocity
All points on the rigid object will have the same angular acceleration, but not the same tangential acceleration
The tangential quantities depend on r, and r is not the same for all points on the object

9. Centripetal Acceleration
An object traveling in a circle, even though it moves with a constant speed, will have an acceleration
Therefore, each point on a rotating rigid object will experience a centripetal acceleration
since v = r

10. Resultant Acceleration
The tangential component of the acceleration is due to changing speed
The centripetal component of the acceleration is due to changing direction
Total acceleration can be found from these components

11. Rotational Motion Example
For a compact disc player to read a CD, the angular speed must vary to keep the tangential speed constant (vt = wr)
At the inner sections, the angular speed is faster than at the outer sections
The tangential speed of the disc surface at the location of the lens is constant. This requires, according to v = r, that the angular speed vary as the laser-lens system moves radially along the disc. In a typical compact disc player, the constant speed of the surface at the point of the laser lens-system is 1.3 m/s.

12. i = v/ri = 1.3/2.3 x 10-2 = 57 s-1 x (1/2)(60/1) = 540 rev/min
a. Find the angular speed of the disc in revolutions per minute when information is being read from the innermost first track (r = 23 mm) and the outermost final track (r = 58 mm).
i = v/ri = 1.3/2.3 x 10-2 = 57 s-1 x (1/2)(60/1) = 540 rev/min
f = v/rf = 1.3/5.8 x 10-2 = 22 s-1 x (1/2)(60/1) = 210 rev/min
The player adjusts the angular speed  of the disc between these two values in order to maintain a tangential speed of 1.3 m/s at the lens – so that the information passes at a constant rate
b. The maximum playing time of a standard music CD is 74 min and 33s. How many revolutions does the disc make during that time?
 =½(i + f)t = ½( )(4473) = 1.8 x 105 rad x (1/2) = 2.8 x 104 rev
c. What is the total length the track moves past the objective lens during this time?
xf = vit = 1.3 x 4473 = 5.8 x 103 m = 5.8 km
d. What is the angular acceleration of the CD over the 4473 s time interval? Assume that  is constant.
 = (f - i)/t = (22-57)(4473) = -7.8 x 10-3 rad s-2
Disc undergoes very gradual decrease in its rotation rate (since the disc has a higher angular speed at the beginning, ri)

13. Rotational Kinetic Energy
An object rotating about some axis with an angular speed, ω, has rotational kinetic energy even though it may not have any translational kinetic energy
Each particle has a kinetic energy of
Ki = ½ mivi2
Since the tangential velocity depends on the distance, r, from the axis of rotation, we can substitute vi = wi r
Ki = ½mi2ri2

14. Where I is called the moment of inertia
The total rotational kinetic energy of the rigid object is the sum of the energies of all its particles
Where I is called the moment of inertia
Analogous to mass, but not an intrinsic property – depends on choice of rotation axis
There is an analogy between the kinetic energies associated with linear motion (K = ½ mv 2) and the kinetic energy associated with rotational motion (KR= ½ Iw2)
Rotational kinetic energy is not a new type of energy, the form is different because it is applied to a rotating object
The units of rotational kinetic energy are Joules (J)

15. Moment of Inertia The definition of moment of inertia is
The dimensions of moment of inertia are ML2 and its SI units are kg.m2
We can calculate the moment of inertia of an object more easily by assuming it is divided into many small volume elements, each of mass Dmi
We can rewrite the expression for I in terms of Dm
With the small volume segment assumption,
If r is constant, the integral can be evaluated with known geometry, otherwise its variation with position must be known

16. Notes on Various Densities
Volumetric Mass Density → mass per unit volume: r = m / V
Surface Mass Density → mass per unit thickness of a sheet of uniform thickness, t : s = r t
Linear Mass Density → mass per unit length of a rod of uniform cross-sectional area: l = m / L = r A

17. Moment of Inertia of a Uniform Rigid Rod
The shaded area has a mass dm = l dx
Then the moment of inertia is
= (M/L)dx
L/2
= (M/L)∫-L/2 x2dx
= (M/L)[x3/3]-L/2
=(M/3L) [L3/8 –(-L3/8)]
= (M/3L)(L3/4) = ML2/12
L/2

18. Moment of Inertia of a Uniform Solid Cylinder
Divide the cylinder into concentric shells with radius r, thickness dr and length L
dm = r dV = 2prLr dr
Then for I
Area of ring is dA = 2r.dr
dV = LdA
= L 2r.dr R
= 2L∫0 r3dr
= 2L[r4/4]0
= ½LR4 R M
Total volume is R2L so  = M/V = M/R2L
I = ½MR2