Chapter 04: Rotational And Comparing eq (1) and (2) we get,

Circular Motion 2𝜋 = 360° − −(𝐴)

1 radian in degree:
Kinematics of angular Motion
Divide eq (A) by 2𝜋 on both side
Study of motion by establishing relationships
among angular displacement (rotational angle), 360°
1 radian =
angular velocity, angular acceleration, and time. 2𝜋
𝜔𝑓 = 𝜔𝑖 + 𝛼𝑡 180°
1 radian =
π
1
𝜃 = 𝜔𝑖 𝑡 + 𝛼𝑡 2 1 radian = 57.29°
2
2𝛼𝜃 = 𝜔𝑓2 − 𝜔𝑖2 1 degree in radians:

𝐼 = ∑𝑚𝑟 2 Divide eq (A) by 360°, we get

2𝜋
𝜏 = 𝐼𝛼 = 1°
360°
𝐿 = 𝐼𝜔 𝜋
= 1°
180°
Angular Displacement
Or
Definition: The angle subtended by the arc
displacement covers between two points on the 𝜋
1° =
circumference of the circle. It is denoted by 𝜽 180°
and measured in radians (rad) 1° = 0.0174 radian
Definition of radian Conversion from revolution to radians
1 radian is when arc displacement (s) is equal to ∴ 1 revolution = 2π
the radius of the circle.
nth revolutions = n(2π)
𝒔
𝜽=
𝒓 Or
𝜽 = angle substended nth revolutions = 2nπ radians
𝑠 = arc displacement Angular velocity
𝑟 = radius of the circle
Definition: The rate of change of angular
𝑠 𝑟 displacement (𝜃). It is denoted by 𝝎. It is
𝜃 = = = 1 𝑟𝑎𝑑
𝑟 𝑟 measured in radian/ second (rad/s).
Relationship between angle in radians and in Formula:
degree
∆𝜽
1 complete revolution in radians = 𝝎𝒂𝒗𝒆 =
∆𝒕
2𝜋 𝑟𝑎𝑑𝑖𝑎𝑛𝑠 − −(1)
Where,
1 complete revolution in degree = 360° − −(2)
𝝎𝒂𝒗𝒆 = average angular velocity
Relation between angular velocity and Relationship between linear and Angular
frequency (For 1 complete cyclic rotation) Quantities
∆θ = 2π a) Linear displacement (S) and angular
displacement (𝜽)
∆t = T As we know that circumference of the
2π circle is:
ω= ∴ 𝑆 = 𝑟𝜃
T
b) Linear velocity (v) and angular
1
ω = 2π ( ) velocity (𝝎)
T ∆
Multiply 𝑆 = 𝑟𝜃 by ∆𝑡
𝝎 = 𝟐𝝅𝒇 ∆𝑆 ∆𝑟𝜃
=
Instantaneous angular velocity: ∆𝑡 ∆𝑡
Since radius ‘r’ is constant for a circle,
The rate of change of angular displacement at so
specific point at specific time. ∆𝑆 𝑟∆𝜃
=
∆𝜽 ∆𝑡 ∆𝑡
𝝎𝒊𝒏𝒔 = 𝐥𝐢𝐦
∆𝒕→∞ ∆𝒕 ∆𝑆 ∆𝜃
And we know that ∆𝑡 = 𝑣 and ∆𝑡
=𝜔
Conversion of revolutions/minutes to 𝑣 = 𝑟𝜔
radians/second: c) Linear acceleration (a) and angular
1 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛 2𝜋 𝑟𝑎𝑑𝑖𝑎𝑛𝑠 acceleration (𝜶)
= ∆
𝑚𝑖𝑛𝑢𝑡𝑒 60 𝑠𝑒𝑐𝑜𝑛𝑑𝑠 Multiply 𝑣 = 𝑟𝜔 by , we get
∆𝑡
𝑛𝑡ℎ 𝑟𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛𝑠 𝑛𝑡ℎ (2𝜋) 𝑟𝑎𝑑𝑖𝑎𝑛𝑠 ∆𝑣 ∆𝑟𝜔
= 𝑡ℎ =
𝑚𝑡ℎ 𝑚𝑖𝑛𝑢𝑡𝑒𝑠 𝑚 (60 𝑠𝑒𝑐𝑜𝑛𝑑𝑠) ∆𝑡 ∆𝑡
Since radius ‘r’ is constant for a circle so
𝒏𝒕𝒉 𝒓𝒆𝒗 𝟐𝒏𝝅 ∆𝑣 𝑟∆𝜔
= =
𝒕𝒉
𝒎 𝒎𝒊𝒏𝒔 𝟔𝟎 × 𝒎 ∆𝑡 ∆𝑡
∆𝑣 ∆𝜔
And we know that ∆𝑡 = 𝑎 and ∆𝑡 = 𝛼
Angular Acceleration 𝑎 = 𝑟𝛼
The rate of change of angular velocity (𝜔). It is Linear and angular equation of
denoted by (𝜶). It is measured in motions
radians/second2 (rad/s2). Linear Equation Angular
of motion Equation of
Formula: motion
𝑣𝑓 = 𝑣𝑖 + 𝑎𝑡 𝜔𝑓 = 𝜔𝑖 + 𝛼𝑡
∆𝜔
𝛼= 1 2 1
∆𝑡 𝑆 = 𝑣𝑖 𝑡 + 𝑎𝑡 𝜃 = 𝜔𝑖 𝑡 + 𝛼𝑡 2
2 2
Instantaneous angular velocity: 2𝑎𝑆 = 𝑣𝑓2 − 𝑣𝑖2 2𝛼𝜃 = 𝜔𝑓2 − 𝜔𝑖2
Rate of change of angular velocity at specific Centripetal Force
point at specific time. Such a force which subjected a body to move in
∆𝜔 a circular path by keeping its acceleration
𝛼 = lim directed toward the center of the circle.
∆𝑡→∞ ∆𝑡

𝑭𝒄 = 𝒎𝒂𝒄
OR Form both the figures of triangles, we have:
𝑚𝑣 2 ∆𝜃 =
∆𝑆
− − − (from fig 1)
𝐹𝑐 = 𝑟
𝑟
∆𝑣
OR ∆𝜃 = 𝑣
− − − (form fig 2)

𝐹𝑐 = 𝑚𝑟𝜔2 Comparing them, we get

∆𝑆 ∆𝑣
=
𝑟 𝑣
Examples
Divide both side by ∆𝑡
1. Whirling a stone using the string
2. In roller coaster ∆𝑆 ∆𝑣
=
3. Planetary motion ∆𝑡. 𝑟 ∆𝑡. 𝑣
4. Turning of a car at roundabout Rearranging above equation
Centripetal acceleration ∆𝑆. 𝑣 ∆𝑣
=
∆𝑡. 𝑟 ∆𝑡
Motion of a body due to acceleration that cause
it to move in a circular orbit. It is expressed as Applying limits as ∆𝑡 → ∞
𝒂𝒄 . 𝑣 ∆𝑆 ∆𝑣
( lim ) = lim
Formula 𝑟 ∆𝑡→∞ ∆𝑡 ∆𝑡→∞ ∆𝑡

𝑣
𝒗𝟐 . (𝑣) = 𝑎𝑐
𝒂𝒄 = 𝑟
𝒓
𝒗𝟐
OR 𝒂𝒄 =
𝒓
𝒂𝒄 = 𝒓𝝎𝟐
Centripetal acceleration in terms of angular
Derivation for centripetal acceleration velocity:

Let consider a body moves in a circular path (𝑟𝜔)2

𝑎𝑐 =
such as its center is at A and it starts moving 𝑟
from point B with velocity of 𝒗𝟏 on the
𝒂𝒄 = 𝒓𝝎𝟐
circumference of the circle toward the point C
with the velocity of 𝒗𝟐 to cover the arc length of Force in a rope (Tension force)
∆𝑺. Keep in mind that 𝑣1 and 𝑣2 both are same
(𝑣1 = 𝑣2 = 𝑣in terms of magnitude but their Tension force is an example of centripetal force.
direction must be different. When a body moves in a circle due to the
tension in a string, there must be a net force
(centripetal force) that holds the body moves in
a circular path.
 In the above free-body diagram (right side),
forces are balanced such as
Along x-axis
𝑁𝑥 = 𝐹𝑐
𝑚𝑣 2
𝑁𝑠𝑖𝑛𝜃 = − − − (1)
𝑟
Along y-axis
𝑁𝑦 = 𝑊
𝑭𝒏𝒆𝒕 = 𝑭𝒂𝒄𝒕𝒊𝒐𝒏 + 𝑭𝒓𝒆𝒂𝒄𝒕𝒊𝒐𝒏 𝑁𝑐𝑜𝑠𝜃 = 𝑚𝑔
𝐹𝑡𝑒𝑛𝑠𝑖𝑜𝑛 = 𝐹𝑐 − 𝐹𝑊 𝑚𝑔
𝑁= − − − (2)
𝑐𝑜𝑠𝜃
𝑚𝑣 2
𝐹𝑡𝑒𝑛𝑠𝑖𝑜𝑛 = − 𝑚𝑔 Put eq (2) into eq (1), we get
𝑟
In the above equation if 𝐹𝑡𝑒𝑛𝑠𝑖𝑜𝑛 = 0, then a 𝑚𝑔 𝑚𝑣 2
𝑆𝑖𝑛𝜃 =
body moves in a tangential (straight) path with 𝑐𝑜𝑠𝜃 𝑟
uniform velocity of 𝒗.
𝑣2
𝑔𝑡𝑎𝑛𝜃 = − − − (𝐴)
Force on the bank curve 𝑟

Definition: A curve path at turning of the road For determining (𝜽)

with some angle of elevation. Rearranging eq (A) for 𝜃, we have
Significance:
𝑣2
𝜃 = tan−1 ( )
On the banked curve with certain angle of 𝑔𝑟
elevation from ground (𝜽), one of the
components (x-component) of the normal force For determining (𝐯)
of a body produces centripetal acceleration in a Rearranging eq (A) for 𝑣, we have
moving body to take safe turns
𝑣 = √𝑔𝑟𝑡𝑎𝑛𝜃
Ideal Banked curve
1. Such a banked road which has no Orbital Velocity
friction between the tires and the road. The speed required a body (satellite) that could
2. The net external force is equal to the orbit the heavenly bodies (planets or stars) with
horizontal centripetal force. the consumption of fuel and also overrides the
3. The component of the Normal force (N) force of attraction (caused by that heavenly
must be balanced by centripetal force bodies) to sustain its trajectory in the orbit
and weight of the body. around the heavenly bodies.
Derivation of orbital velocity Also, from Eq (3)
Let say 𝐺𝑀𝑐𝑒𝑛𝑡𝑟𝑎𝑙
𝑣2 = − − − (5)
𝑅
Mass of satellite = 𝑀𝑠𝑎𝑡𝑒𝑙𝑙𝑖𝑡𝑒
Comparing eq (4) and eq (5)
Mass of central body (sun, planet) = 𝑀𝑐𝑒𝑛𝑡𝑟𝑎𝑙
2
2𝜋 2 𝐺𝑀𝑐𝑒𝑛𝑡𝑟𝑎𝑙
∴ 𝐹𝑐 = 𝐹𝐺 − − − (𝐴) 𝑅 ( ) =
𝑇 𝑅
(𝑀𝑠𝑎𝑡𝑒𝑙𝑙𝑖𝑡𝑒 )𝑣 2 4𝜋 2 𝐺𝑀𝑐𝑒𝑛𝑡𝑟𝑎𝑙
𝐹𝑐 = − − − (1) =
𝑅 𝑇2 𝑅3
𝐺(𝑀𝑠𝑎𝑡𝑒𝑙𝑙𝑖𝑡𝑒 )(𝑀𝑐𝑒𝑛𝑡𝑟𝑎𝑙 ) 1 𝐺𝑀𝑐𝑒𝑛𝑡𝑟𝑎𝑙
𝐹𝐺 = − − − (2) =
𝑅2 𝑇 2 4𝜋 2 𝑅3
Put eq (1) and eq (2) into eq (A), we get 4𝜋 2 𝑅3
𝑇2 =
(𝑀𝑠𝑎𝑡𝑒𝑙𝑙𝑖𝑡𝑒 )𝑣 2 𝐺(𝑀𝑠𝑎𝑡𝑒𝑙𝑙𝑖𝑡𝑒 )(𝑀𝑐𝑒𝑛𝑡𝑟𝑎𝑙 ) 𝐺𝑀𝑐𝑒𝑛𝑡𝑟𝑎𝑙
=
𝑅 𝑅2
4𝜋 2 𝑅3
𝐺(𝑀𝑐𝑒𝑛𝑡𝑟𝑎𝑙 ) 𝑇=√
𝑣2 = − − − (3) 𝐺𝑀𝑐𝑒𝑛𝑡𝑟𝑎𝑙
𝑅
Where
𝐺(𝑀𝑐𝑒𝑛𝑡𝑟𝑎𝑙 )
𝑣=√ − − − (𝐵) T = time period of the orbit (s)
𝑅

𝑁𝑚2
R= orbital radius
G = Gravitational Constant = 6.67 × 10−11 𝑘𝑔2
G= Gravitational Constant
24
𝑀𝑐𝑒𝑛𝑡𝑟𝑎𝑙 =Mass of earth = 5.98 × 10 𝑘𝑔
M= mass of the object being orbited (in kg)
R = distance from the central body to the
satellite. Moment of Inertia
Important point for orbital velocity Moment of inertia is a quantity that measures
how much an object resists rotational
The equation (B) shows that whatever the mass acceleration around a specific axis. It is also
of the satellite is, all the satellite will keep the known as angular mass or rotational inertia.
same orbital velocity at a specific distance (R).
Moment of inertia is the distribution of small
Determining the Time Period for the satellite particles about the axis of rotation. It is
having orbital velocity (Kepler’s 3rd law expressed as the sum of the product of entire
derivation) mass distribution and the distance perpendicular
to the axis of rotation.
As we know that
𝐼 = ∑𝑚𝑖 𝑟𝑖2
𝑣 = 𝑅𝜔
Where
𝑣 2 = (𝑅𝜔)2
I = moment of inertia
𝑣 2 = 𝑅 2 𝜔2
mi = mass of small particles
2
2𝜋 2
2
𝑣 = 𝑅 ( ) − − − (4)
𝑇
ri = perpendicular distance of each small particle from axis of rotation 𝑟1 = 0. Whereas
particles from the axis of rotation. distance of 1st particle from axis of rotation 𝑟2 =
𝐿. Therefore,
Unit of moment of inertia is (kg.m2) and its
dimension is [M1L2T0] 𝐼 = ∑𝑚𝑖 𝑟𝑖2
Moment of inertia depends on 𝐼 = 𝑚1 𝑟12 + 𝑚2 𝑟22
1. Shape and size of body 𝐼 = 𝑚(0)2 + 𝑚(𝐿)2
2. Density of body 𝐼 = 𝑚𝐿2
3. Axis of rotation (Distribution of mass relative Second Method (Parallel axis theorem)
to the axis)
This method is used when the symmetry is not
Moment of inertia (rotational inertia) of two followed in finding the moment of inertia. It can
particle system be calculated as:
Case-I ( when axis of rotation is middle of the 𝐼 = 𝐼𝑐 + 𝑀ℎ2
two particles)
Where,
Let say two identical particles of equal masses
(m1 = m2 = m) are equidistant (at the same 𝐼 = moment of inertia of a body
distance) from the axis of rotation. Their
𝐼𝑐 = moment of inertia about axis of rotation
moment of inertia is
passes through the center of mass of a body.
𝐼 = ∑𝑚𝑖 𝑟𝑖2
M = total mass of a body
𝐼= 𝑚1 𝑟12 + 𝑚2 𝑟22 h = distance between two parallel axis of
Since we know that m1 = m2 = m and 𝑟1 = 𝑟2 = rotation
𝐿
2
. Therefor: 1 2 𝐿 2
𝐼 = 𝑚𝐿 + (2𝑚) ( )
2 2
𝐿 2 𝐿 2
𝐼 = 𝑚( ) +𝑚( ) 1 𝑚𝐿2
2 2
𝐼 = 𝑚𝐿2 +
2 2
𝑚𝐿2 𝑚𝐿2
𝐼= + 𝐼 = 𝑚𝐿2
4 4
𝑚𝐿2 Shapes Mass Distance Formula I
𝐼= (m) (r)
2 1
Cylinder 2 kg 2m 4
𝑚𝑟 2
OR 2 kg.m2
1 2
Hollow 2 kg 2m (𝑎 + 𝑏2 ) 20
1 2
cylinder kg.m2
𝐼 = 𝑚𝐿2 Solid 2 kg 2m 2 16/5
2 𝑚𝑟 2
sphere 5 kg.m2
Case-II (when axis of rotation passes through
any one of the particle’s center of mass)
Torque
First method
Torque is produced when a body is subjected to
Let say axis of rotation passes through the first
rotate on the application of force. It is defined as
particle’s center of mass. So distance of 1st
“Turning effect of force about an axis of rotation
is called torque”. It is also called moment of 𝐹 = 𝑚𝑟𝛼 − −(3)
force. It is expressed as 𝜏 and its dimension is
Put eq (3) into eq (A), we have
[ML2T-2]
Examples 𝜏 = 𝑟(𝑚𝑟𝛼)

1. Seesaw 𝜏 = 𝑚𝑟 2 𝛼 − −(4)

2. tightening or losing a bolt Wrench 𝜏 = 𝐼𝛼

3.Opening the door 𝝉∝𝜶

Formula If there are more than one particle in a system

that is exposed to applied torque, then eq (4) can
It is the cross product of perpendicular be rewritten as
displacement (𝒓) from the axis of rotation to the
point at which force (F) is applied such as ∑𝜏 = (∑𝑚𝑟 2 )𝛼
Therefore, we conclude that the torque is
𝜏⃗ = 𝑟⃗ × 𝐹⃗
directly proportional to the angular acceleration
It can be expressed in two forms for its present in the rotating system.
magnitude calculation
∑𝝉 = 𝑰𝜶
When the projection of moment arm (r) is
perpendicular to the applied force (F) Angular momentum
𝜏 = (𝑟𝑠𝑖𝑛𝜃)𝐹 Consider a point particle of mass “m” is
rotating in a horizontal circle (xy-plane)
When the projection of applied force (F) is
with a moment arm of “r” acquiring a linear
perpendicular to the moment arm (r)
momentum “p”. The angular momentum of
𝜏 = 𝑟(𝐹𝑠𝑖𝑛𝜃) such a rotating system is the cross product of
moment arm and linear momentum,
Relation between torque 𝝉, moment of inertia
(I) and angular acceleration ⃗⃗ = 𝑟⃗ × 𝑝⃗
𝐿
Consider a particle having mass (m) attached
The direction of the angular momentum is
with a string of negligible mass is subjected to a
perpendicular to the horizontal circle plane.
force normal to the circumference of the circle.
So, the torque applied on it is as:
𝜏 = 𝑟𝐹𝑠𝑖𝑛(90°)
𝜏 = 𝑟𝐹 − −(𝐴)
As we know that
𝐹 = 𝑚𝑎 − −(1)
And, 𝐿 = 𝑟𝑝𝑠𝑖𝑛𝜃

𝑎 = 𝑟𝛼 − −(2) 𝐿 = 𝑟(𝑚𝑣)𝑠𝑖𝑛𝜃

Put eq (2) into eq (1) we get, For maximum angular momentum

𝐹 = 𝑚(𝑟𝛼) ∴ 𝜃 = 90°
 𝐿 = 𝑟𝑚𝑣 ∆𝐿
=0
∆𝑡
OR
∆𝐿 = 0
𝐿 = 𝑚𝑣𝑟
𝑳𝒇 = 𝑳𝒊
Law of conservation of angular momentum
Initial and final momentum is same; hence
“Angular momentum of a system does not
momentum is constant.
change (in terms of magnitude and
direction) if no net external torque is applied 𝑳 = 𝐜𝐨𝐧𝐬𝐭𝐚𝐧𝐭
to it”
Consider a particle of mass “m” and moving
in a uniform circular motion due to
centripetal force acting on it.
𝐿 = 𝑟𝑝
∆
Multiply both side by ∆𝑡

∆𝐿 ∆(𝑟𝑝)
=
∆𝑡 ∆𝑡
Applying rule of change over product
∆(𝐴𝐵) = 𝐵∆𝐴 + 𝐴∆𝐵
∆𝐿 𝑝∆𝑟 + 𝑟∆𝑝
=
∆𝑡 ∆𝑡
Since radius of a circle (moment arm) does
not change when body performs rotation
then, ∆𝑟 = 0, therefore
∆𝐿 𝑝(0) + 𝑟∆𝑝
=
∆𝑡 ∆𝑡
∆𝐿 𝑟∆𝑝
=
∆𝑡 ∆𝑡
∆𝐿
= 𝑟(𝐹)
∆𝑡
∆𝐿
=𝜏
∆𝑡
According to the definition of law of
conservation of angular momentum, if there
is no external torque (𝜏 = 0), then