What is the angle between the tangential acceleration and the instantaneous velocity vectors?

By the end of this section, you will be able to do the following:

• Describe the angle of rotation and relate it to its linear counterpart
• Describe angular velocity and relate it to its linear counterpart
• Solve problems involving angle of rotation and angular velocity

The learning objectives in this section will help your students master the following standards:

• (4) Science concepts. The student knows and applies the laws governing motion in a variety of situations. The student is expected to:
  • (C) analyze and describe accelerated motion in two dimensions using equations, including projectile and circular examples.

What exactly do we mean by circular motion or rotation? Rotational motion is the circular motion of an object about an axis of rotation. We will discuss specifically circular motion and spin. Circular motion is when an object moves in a circular path. Examples of circular motion include a race car speeding around a circular curve, a toy attached to a string swinging in a circle around your head, or the circular loop-the-loop on a roller coaster. Spin is rotation about an axis that goes through the center of mass of the object, such as Earth rotating on its axis, a wheel turning on its axle, the spin of a tornado on its path of destruction, or a figure skater spinning during a performance at the Olympics. Sometimes, objects will be spinning while in circular motion, like the Earth spinning on its axis while revolving around the Sun, but we will focus on these two motions separately.

When solving problems involving rotational motion, we use variables that are similar to linear variables (distance, velocity, acceleration, and force) but take into account the curvature or rotation of the motion. Here, we define the angle of rotation, which is the angular equivalence of distance; and angular velocity, which is the angular equivalence of linear velocity.

When objects rotate about some axis—for example, when the CD in Figure 6.2 rotates about its center—each point in the object follows a circular path.

Figure 6.2 All points on a CD travel in circular paths. The pits (dots) along a line from the center to the edge all move through the same angle Δθ Δθ in time Δt Δt .

The arc length, , is the distance traveled along a circular path. The radius of curvature, r, is the radius of the circular path. Both are shown in Figure 6.3.

Figure 6.3 The radius (r) of a circle is rotated through an angle Δθ Δθ . The arc length, Δs Δs , is the distance covered along the circumference.

Consider a line from the center of the CD to its edge. In a given time, each pit (used to record information) on this line moves through the same angle. The angle of rotation is the amount of rotation and is the angular analog of distance. The angle of rotation Δθ Δθ is the arc length divided by the radius of curvature.

Δθ= Δs r Δθ= Δs r

The angle of rotation is often measured by using a unit called the radian. (Radians are actually dimensionless, because a radian is defined as the ratio of two distances, radius and arc length.) A revolution is one complete rotation, where every point on the circle returns to its original position. One revolution covers 2π 2π radians (or 360 degrees), and therefore has an angle of rotation of 2π 2π radians, and an arc length that is the same as the circumference of the circle. We can convert between radians, revolutions, and degrees using the relationship

1 revolution = 2π 2π rad = 360°. See Table 6.1 for the conversion of degrees to radians for some common angles.

2π rad = 360° 1rad = 360° 2π ≈57.3° 2π rad = 360° 1rad = 360° 2π ≈57.3°

6.1

Table 6.1 Commonly Used Angles in Terms of Degrees and Radians

How fast is an object rotating? We can answer this question by using the concept of angular velocity. Consider first the angular speed (ω) (ω) is the rate at which the angle of rotation changes. In equation form, the angular speed is

ω= Δθ Δt , ω= Δθ Δt ,

6.2

which means that an angular rotation (Δθ) (Δθ) occurs in a time, Δt Δt . If an object rotates through a greater angle of rotation in a given time, it has a greater angular speed. The units for angular speed are radians per second (rad/s).

Now let’s consider the direction of the angular speed, which means we now must call it the angular velocity. The direction of the angular velocity is along the axis of rotation. For an object rotating clockwise, the angular velocity points away from you along the axis of rotation. For an object rotating counterclockwise, the angular velocity points toward you along the axis of rotation.

Angular velocity (ω) is the angular version of linear velocity v. Tangential velocity is the instantaneous linear velocity of an object in rotational motion. To get the precise relationship between angular velocity and tangential velocity, consider again a pit on the rotating CD. This pit moves through an arc length (Δs) (Δs) in a short time (Δt) (Δt) so its tangential speed is

v= Δs Δt . v= Δs Δt .

6.3

From the definition of the angle of rotation, Δθ= Δs r Δθ= Δs r , we see that Δs=rΔθ Δs=rΔθ . Substituting this into the expression for v gives

v= rΔθ Δt =rω . v= rΔθ Δt =rω .

The equation v=rω v=rω says that the tangential speed v is proportional to the distance r from the center of rotation. Consequently, tangential speed is greater for a point on the outer edge of the CD (with larger r) than for a point closer to the center of the CD (with smaller r). This makes sense because a point farther out from the center has to cover a longer arc length in the same amount of time as a point closer to the center. Note that both points will still have the same angular speed, regardless of their distance from the center of rotation. See Figure 6.4.

Figure 6.4 Points 1 and 2 rotate through the same angle ( Δθ Δθ ), but point 2 moves through a greater arc length ( Δ s 2 Δ s 2 ) because it is farther from the center of rotation.

Now, consider another example: the tire of a moving car (see Figure 6.5). The faster the tire spins, the faster the car moves—large ω ω means large v because v=rω v=rω . Similarly, a larger-radius tire rotating at the same angular velocity, ω ω, will produce a greater linear (tangential) velocity, v, for the car. This is because a larger radius means a longer arc length must contact the road, so the car must move farther in the same amount of time.

Figure 6.5 A car moving at a velocity, v, to the right has a tire rotating with angular velocity ω ω . The speed of the tread of the tire relative to the axle is v, the same as if the car were jacked up and the wheels spinning without touching the road. Directly below the axle, where the tire touches the road, the tire tread moves backward with respect to the axle with tangential velocity v=rω v=rω , where r is the tire radius. Because the road is stationary with respect to this point of the tire, the car must move forward at the linear velocity v. A larger angular velocity for the tire means a greater linear velocity for the car.

However, there are cases where linear velocity and tangential velocity are not equivalent, such as a car spinning its tires on ice. In this case, the linear velocity will be less than the tangential velocity. Due to the lack of friction under the tires of a car on ice, the arc length through which the tire treads move is greater than the linear distance through which the car moves. It’s similar to running on a treadmill or pedaling a stationary bike; you are literally going nowhere fast.

Angular velocity ω and tangential velocity v are vectors, so we must include magnitude and direction. The direction of the angular velocity is along the axis of rotation, and points away from you for an object rotating clockwise, and toward you for an object rotating counterclockwise. In mathematics this is described by the right-hand rule. Tangential velocity is usually described as up, down, left, right, north, south, east, or west, as shown in Figure 6.6.

Figure 6.6 As the fly on the edge of an old-fashioned vinyl record moves in a circle, its instantaneous velocity is always at a tangent to the circle. The direction of the angular velocity is into the page this case.

Now that we have an understanding of the concepts of angle of rotation and angular velocity, we’ll apply them to the real-world situations of a clock tower and a spinning tire.