Chapter 7

Kinematics of circular motion

“I shall now recall to mind that the motion of the heavenly bodies is circular, since the motion appropriate to a sphere
is rotation in a circle”.
—Nicolaus Copernicus

1. Introduction Dq = q2 – q1
Unit of angular displacement is radian (rad).
Circular motion is a special kind of plane motion which has
immense practical importance. Motion of the moon around
the Earth, motion of the Earth around the Sun and motion
of the Sun around the centre of our galaxy, all are nearly
circular. A car on a circular track, a kid on a ferry wheel,
motion of a pendulum bob — all can be explained if we
know the physics of circular motion.
Circular motion is a special case of plane motion and its
description is easier in plane polar co-ordinate system. In this
system of co-ordinates, we have a fixed reference line (OX) If co-ordinate r of the particle is not changing, it is
with a fixed point (O) on it, known as the pole. Co-ordinates moving in a circle. In this case, the distance travelled (D s)
of a point P are (r, q) where r is the distance of the point by the particle is equal to the length P1P2.
from the pole (O) and q is the angle made by line OP with Ds = r Dq
the reference line OX. We
When a particle makes
can take q to be positive if
one full rotation while
measured in anticlockwise
moving on a circle, we say
sense with respect to OX
its angular displacement is
and negative when it is mea-
2p radian (and NOT zero,
sured in clockwise sense.
as you may think). If a par-
When a particle moves in such a way that its co-ordinate ticle completes n rotations,
r changes but q does not change, it is moving in a straight its angular displacement is
line. When the particle moves such that only q changes and Dq = n ◊ 2p radian.
r remains fixed, we say that it is moving in a circle of radius
r with its centre at O. In general, addition of two successive angular displacements
is not commutative. Due to this reason, a finite angular
displacement is not regarded as a vector though it has a sense
2. Angular Terms in Kinematics of direction. However, infinitesimally small angular displace-
ment is a vector. For a particle moving in a fixed plane
2.1 Angular displacement there is no harm in considering angular displacement (finite
Consider a particle moving along an arbitrary path in a plane. or infinitesimally small) to be a vector quantity. Angular
O is the pole and OX is the reference line of our plane polar displacement is an axial vector. Its direction is along the
co-ordinate system. As the particle moves from a point P1 to rotation axis perpendicular to the plane of rotation. Consider
P2, its angular displacement (Dq) with respect to point O is a particle moving in a circle in the xy plane. If the par-
defined as the change in its angular co-ordinate (q). ticle moves from P1 to P2 traversing a small angle dq, the
7.2 Mechanics I

​__›
direction of angular displacement vector (​dq​) is along the Average angular acceleration over an interval (D t) of time
z-direction. When right hand fingers are curled in the sense is defined as
​__›
of rotation, the thumb points in the direction of dq​
​ . change in w
Dw
·aÒ = ___
​  ​ = ​ ___________
  
    ​
Dt time interval

Unit of angular acceleration is rad s–2

In Short
(i) For a particle moving in a plane, the angle through
which its position vector rotates is known as its
angular displacement (Dq).
dq
(ii) Angular velocity (w) = ​ ___​ and
dt
dw d2q
2.2 Angular Velocity angular acceleration (a) = ___ ​  ​ = ___
​  2 ​
dt dt
Consider a particle moving in a plane with its co-ordinate (iii) w and a are axial vectors. They are directed
q changing with time. Angular velocity (w) of the particle perpendicular to the plane of the figure.
with respect to point O is defined as
dq
w = ​ ___​
dt
...(i) 3. Unit Vectors In Plane Polar
where dq is an infinitesimally small angular displacement Co-ordinate System
in the time interval dt. It will be helpful to understand velocity and acceleration in
circular motion if we express unit
vectors used in the polar system
in terms of cartesian unit vectors
( and ). Unit vectors used in the
polar co-ordinates are:

= a unit vector
_
​›
along
increasing ​r ​
_
​›
q = a unit vector perpendicular to ​r ​ in the direction
of increasing q.
Angular velocity (w) is​__also a vector and its direction is
› By resolving along the x- and y-directions we get
same as the direction of dq​
​ .
Unit of w is (radian per second) rad/s or rad s–1. Some = (1 . cos q) + (1 . sin q) = (cos q) + (sin q) ...(A)
common units are rpm (revolutions per minute) or rps (revo-
lutions per second). Expression (i) gives the instantaneous
angular velocity. Average angular velocity (·wÒ) over an
interval of time D t is given by
Angular displacement ___Dq
·wÒ = ​ __________________
      
 ​ = ​  ​
Time interval Dt
2.3 Angular Acceleration
Rate of change of angular velocity is defined as angular By resolving q along the x- and y-directions we can
acceleration (a). write
dw q = (– [Link] q) + ([Link] q)
a = ___
​  ​
dt ​___›
_
​› fi q = (– sin q) + (cos q) …(B)
Direction of ​a​ is in the direction of dw​
​ . If w is increasing
then a and w both will have the same direction. a will Notice that both and q change as q changes. These two
be opposite to w if angular velocity w is decreasing in unit vectors are not constant, in general.
magnitude.
 Kinematics of circular motion 7.3

4. Relation Between velocity And If a particle moves in a circle with changing speed, its
motion is said to be non-uniform circular motion.
Angular Velocity In Circular
Motion In Short:
Consider a particle moving in a (i) Speed of a particle in uniform circular motion is
circle of radius r. It undergoes an given by v = wr, where w is its angular speed with
angular displacement q in time t. respect to centre of the circle and r is the radius.
Distance travelled by the particle (ii) Direction of velocity is tangential to the path.
is 2p
(iii) w = 2p f = ___
​  ​, where T is the time period and f is
T
s = rq the frequency of circular motion.
Speed of the particle is
ds dq Example 1 Find the angular speeds of the second hand
v = __
​  ​ = r ___
 ​  ​ = rw. and the minute hand of a watch.
dt dt
Velocity of the particle is tangential to the path along the Solution
unit vector q. Therefore, in vector notation we can write Concepts
​_›
​v ​ = (rw) q Hands of a watch move uniformly. For uniform motion
If we take w as a vector directed perpendicular to the​_plane dq Dq
​_› ​__› › w = ___
​  ​ = ___
​  ​
of rotation then, velocity can be written as ​v ​ = w​
​ × ​r ​ dt Dt
For the seconds hand:
Dq 2p rad p
w = ___
​  ​ = ​ ______ ​ = ​ ___ ​ rad s–1
Dt 60 s 30
For the minute hand:
Dq 2p rad
w = ___
​  ​ = ​ ______  ​
Dt 60 min
2p p
It is important to note that the velocity of a particle in = _______
​   ​ rad s–1 = _____
​   ​ rad –1
circular motion is a variable quantity because the direction 60 × 60 1800
of the velocity vector keeps changing. Note that angular speed does not depend on the length
of the hands of the watch.
5. Uniform circular motion
Example 2 Find the speed of the tip of the hour hand of
A particle moving in a circle is said to perform uniform a watch. The tip of the hour hand is 1cm long.
circular motion if its speed remains constant. since v = w r,
the angular speed (w) is also constant in a uniform circular Solution
motion. Concepts
For a particle moving uniformly in a circle, the time v = wr
required to complete one rotation is called time period (T).
For the hour hand, angular speed is
2p rad 2p
T = ​ ________  ​ = ___
​   ​s Dq 2p rad 2p
w rad s –1 w w = ___
​  ​ = ​ ______ ​ = ___________
​      ​ rad s–1
Dt 12 h 12 × 60 × 60
2p
fi w = ___
​  ​ The tip of the hand rotates in a circle of radius 1 cm.
T
Frequency (f) of rotation is defined as the number of 2p
\ v = wr = ___________
​      ​ × 1 cm s–1
completed rotations per unit time. 12 × 60 × 60
1 w = 1.45 × 10–4 cm s–1
f = __
​  ​ = ___
​  ​
T 2p
fi w = 2p f. Example 3 A particle rotating in a circle of radius 5 cm
completes 1.5 turns in 3 s. Find its angular displacement and
Unit of frequency is s–1 also known as hertz (Hz). average angular velocity.
 Kinematics of circular motion 7.5

1__ 1
2p 2 × 3.14
Speed v = wr = ​ ___​ ◊ r = ________
​   ​ × 1 = 20 ms–1 = – ​ ___  ​   + ___
​  __ ​  
T 0.314 ÷
​ 2 ​ ÷
​ 2 ​

( )
Velocity vector at this instant is ​_› 1__ 1
​_› \  ​v ​ = 20 ​ – ​ ___  ​   + ___
​  __ ​   ​
​v ​ = v q ÷
​ 2 ​ ÷
​ 2 ​
__ __
p p
and (
q = ​ – sin __ ) ( )
​   ​  ​  + ​ cos ​ __ ​  ​ 
4 4
= (–  10​÷2 ​  + 10​÷2 ​  ) ms–1.

Your Turn
Q.1 What is the ratio of the angular speeds of the minute Q.7 A disc of radius R = 5 m is rotating uniformly with
hand and the hour hand of a watch? a frequency of 10 Hz. Velocity of a point p on the disc is
Q.2 A flywheel of diameter 2 m has an angular speed of directed towards a point A on the circumference and the
120 rpm. Find the linear speed of a point on its rim. distance PA is 3 m. Find the speed of point P.

Q.3 Angular displacement of a particle moving in a circle

of radius r = 1 m is given by q = t + 0.75 t2
(i) Find its angular velocity at time t = 2 s.
(ii) Find its average angular velocity in the first 2 s of
its motion.
Q.4 The Moon goes around the Earth once in 27.3 days.
Find the ratio of the frequency of revolution of the Moon
around the Earth to the frequency of revolution of the Earth
around the Sun.
Q.8 A particle moves in a circular path and its angular
Q.5 Radius of the Earth is R = 6400 km. Find the speed velocity changes with time t as
of a man standing on the surface of the Earth at a latitude
of 60°.
3 t3
w = __
​   ​ t2 – __
​   ​
Q.6 A spot light S is rotating in a horizontal plane about 2 3
point O in clockwise sense with Find the angular displacement of the particle in the first
a constant angular velocity of 2 s of motion.
0.2 rad s–1. It throws light on a
vertical wall XX that is at a dis- Q.9 “In a uniform circular motion, angular velocity of a
tance d = 3 m from O. Find the particle remains constant but its velocity keeps changing.”
speed of spot p of the light on Is this statement true?
the wall at the instant q = 60°.

​_›
6. Acceleration in Circular Motion ​v ​ = (rw) q
Using the u.v rule for differentiation, we get
Velocity vector of a particle _
​›
moving in a circle keeps d​v ​ dq dw
\ ​ ___​ = (rw) ___
​  ​ + r q ___
​  ​ ...(i)
changing direction. It means dt dt dt
that the particle always expe- From equation (B) in article 3, we have
riences an acceleration. When
the particle is at P, its veloc- q = – (sin q) + (cos q)
ity is
dq dq dq
\ ​ ___​ = – (cos q) ​ ___​  – (sin q) ___
​  ​
dt dt dt
7.6 Mechanics I

[ ]
dq dq This is the magnitude of acceleration.
\ ​ ___​ = – (cos q + sin q ) w ​  ​ ___​ = w ​ From the diagram it is clear that when
dt dt
Dq Æ 0, the other angles of the triangle
dq
fi ​ ___​ = – ◊ w ...(ii) will approach 90°. This implies _that the
dt ​ _›
direction of change in velocity (​Dv​) in a
Put this in (i) to get very small interval of time is perpendicu-
​_› ​_›
d ​v ​
___ d (rw) lar to the instantaneous
​__› velocity (​v A​ ) and acceleration is in
​  ​ = – (rw2) + _____
​  ​ q
dt dt the direction of Dv​
​ .
​_› dv
\ ​a ​ = – (rw2) + ​ ___
​  ​  ​ q
dt ( ) ...(iii) 6.2 Acceleration in Non-Uniform Circular Motion
Acceleration of a particle in circular motion, in general, is
6.1 Acceleration in Uniform Circular Motion given by the equation (iii) above.
In uniform circular
dv
motion, speed is constant.
​_› dv
​a ​ = – (rw2) + ​ ___
​  ​  ​ q
dt ( )
Hence ___
​  ​ = 0. The two components of acceleration are:
dt
​_›
\ ​a ​ = – (rw2) (i) Radial component
v2
It means acceleration of the particle is towards the ar = rw2 = __
​ r ​ (towards the centre)
centre (opposite to ) and its magnitude is w2r. This accel-
This component of acceleration is perpendicular to
eration is known as the centripetal acceleration or radial
the velocity, towards the centre and is responsible
acceleration.
for changing the direction of the velocity.
v2
ar = rw2 = __​ r ​ ...(iv) (ii) Tangential component
We can derive the expression of centripetal acceleration dv
in an alternate way as given below. at = ___
​  ​ = rate of change of speed.
​_› dt
Velocity of the particle when it is at point A is ​v A​ . In a Tangential acceleration is directed along the tangent.
small time interval D t it moves to point B and its velocity It is in the direction of the velocity if the particle
_
​› _
​› _
​›
becomes ​v ​B. Note that |​v ​A| = |​v ​B| = v (say) if the motion is is speeding up and is opposite to the velocity if the
uniform. particle is slowing down.
Tangential acceleration is related to angular acceleration
(a) as
dv d (rw) dw
at =  ​ ___​ = ​ ______​ = r ​ ___​ = r ◊ a
dt dt dt
​_› ​_› ​_›
In vector form ​a ​t = ​a​ × ​r ​
Magnitude of acceleration in non-uniform circular motion
is given by
______
a = ​÷​a2​r​ ​ + a​ 2​t​ ​
​_› ​_›
The second
_
​ _›
figure shows ​v ​A and ​v ​B drawn with their tails ____________

÷( ) ( )
together. ​Dv​ is the change in velocity as the particle moves v2 2 dv 2
 ​ = ​ ​​ __
​ r ​  ​​ ​ + ___
​​   
​  ​  ​​ ​ ​
from A to B. As the particle rotates through an angle Dq, dt
the velocity vector also rotates through Dq.
____________ _______
When
_
​ _›
Dq is small, the length of the arrow represent- = ​÷(rw​2)​2​ + (ra)
    ​ = r ​÷w + a  ​
2 4 2
​_›
ing​_​Dv​ will be Dq times the length of arrow representing ​v ​A
›
or ​v ​B
\ Dv = vDq
Dv Dq
fi ​ ___​ = v ___
​  ​
Dt Dt
Dv
___ Dq
fi ​limit
   ​ ​  ​ = limit​ ___
v  ​   ​  ​
Dt Æ 0 D t Dt Æ 0 Dt
fi a= vw = rw2 [ v = rw]
 Kinematics of circular motion 7.7

4
The direction of the resultant acceleration makes an angle ar = a cos q = 5 ◊ ​ __ ​ = 4 ms–2
5
f with the radius where
2
at v
tan f = __
​ a ​ fi ​ __
r ​ = 4
r

In short fi v2 = 4 × 4
(i) In uniform circular motion, acceleration is always fi v = 4 ms–1
directed towards the centre of the circle and is known
3
as the radial or centripetal acceleration. Its magnitude at = a sin q = 5 ◊ ​ __ ​ = 3 ms–2
v2 5
is constant and is equal to ​ __
r ​ = rw
2

(ii) In non-uniform circular motion, apart from the radial

acceleration, there is a tangential acceleration. It is
equal to the rate of change of speed (= rate of change
of the magnitude of velocity). Resultant acceleration
is the vector sum of ar and at.

Example 7 Find the acceleration of a man standing at the

equator of the Earth. Consider only rotation of the Earth ​_›
Since at is opposite to ​v ​, hence speed is decreasing at a
about its axis. Radius of the Earth is 64 km. Is it correct
rate of 3 ms–2
to say that this acceleration is in the vertically downward
direction? dv
\ ​ ___​ = – 3 ms–2
dt
Solution
Concepts Example 9 A car is at rest on a circular racing track of
radius 64/3 m. It begins to move and its speed increases at
Motion is uniform circular with angular speed a constant rate of 4 ms–2.
Find the magnitude of acceleration of the car-
2p
w = ___
​   ​ rad/hr (i) immediately after it begins to move.
24
2p (ii) 2 s after it begins to move.
w = ___________
​      ​ rad s–1
24 × 60 × 60
Solution
Acceleration in uniform circular motion is towards the
centre and has magnitude given by Concepts

( 2p
ar = rw2 = 6400 × 103 × ​​ ___________
​ 
2
)
    ​  ​​ ​
24 × 60 × 60
Immediately after the start, the speed of the car is zero.
When the speed is zero there is no radial acceleration. At a
= 0.034 rad s–1. later time when the car has some finite speed, there is radial
acceleration, apart from the tangential acceleration.
Example 8 A particle is moving in a circle of radius
r = 4 m. At a given instant it is at point P and the direction (i) Immediately after start, v = 0
of its velocity and acceleration are as shown in the figure. v2
\ ar = __
​ r ​ = 0
The magnitude of acceleration
is 5 ms–2 and it makes an angle dv
at = ​ ___​ = 4 ms–2
()
3
of q = tan–1 ​ __
​   ​  ​ with the radius.
4
dt
\ Acceleration of the car
Find the speed of the particle and in the beginning is 4 ms–2
the rate of change of its speed at in the tangential direction.
the given instant. (ii) After 2 s the speed of the car
Solution will be
Concepts v = 2 × 4 = 8 ms–1
Component of acceleration along the radius is centripetal
v2 v2 82
acceleration equal to ​ __ ar = ​ __
r ​= ​ ___ ​ = 3 ms–2
r ​ and its component along the 64
___
​   ​
tangent is equal to the rate of change of speed. 3
7.8 Mechanics I

at = 4 ms–2 10
______ ______
Angular speed w = ___
​ p ​ rotations per second(rps)
\ a = ​÷​a2​r​ ​ + a​ 2​t​ ​ ​ = ​÷32 + 42 ​ = 5 ms–2
10
Example 10 A fan of diameter 1.5 m is rotating with = ​ ___
p ​ × 2p = 20 rad s
–1

10
an angular speed of ​ ___
p ​ rotations per second. when it is 1.5
switched off, it begins to retard at a rate of 10 rad s–2. Find Radial acceleration, ar = rw2 = ​ ___ ​ × 202 = 300 ms–2
2
the acceleration of a particle at the tip of the fan immediately
after the fan is switched off. 1.5
Tangential acceleration, at = ra = ___
​   ​ ◊ 10 = 7.5 ms–2
2
Solution
______ ___________
Concepts \ a = ​÷​a2​r​ ​ + a​ 2​t​ ​ ​ = ​÷(300)2 +   
7.52 ​
______
at = r a and a = ÷
​ ​a2​r​ ​ + a​ 2​t​ ​ ​. Immediately after switching
______
10 = ​÷90056 ​ 300 ms–2
off, the speed of the fan remains ___
​ p ​ rps.

Your Turn
Q.10 A body is moving in a horizontal circle of radius 3 m Q.14 A vector of magnitude a is rotated by a small angle
making 60 rpm. Find its centripetal acceleration. dq. Find the magnitude of change in the vector.
Q.11 A particle moves in a circle of radius 2 m. At a given Q.15 A particle is moving in the xy plane with its
–2
moment its acceleration is 40 ms making an angle of 37° co-ordinates changing with time as
with the radius. At this instant find
x = a sin wt and y = a cos wt
(i) the angular acceleration of the particle.
where a and w are positive constants. Show that the
(ii) the angular velocity of the particle. acceleration of the particle is directed towards a fixed point.
Q.12 Find the maximum constant speed a car can have Find the co-ordinates of the fixed point.
if its acceleration is not to exceed 7.5 ms–2 while going Q.16 Three particles (A, B, and C) are moving in circles
around a circular track of radius 200 m. of same radii. At an instant the magnitude of acceleration of
Q.13 A particle is moving along a circle of radius r, At an all the particles is the same. Which particle had the highest
instant its speed is 20 ms–1 and it is decreasing at a rate of 3 speed at the instant shown? Which particle is speeding up?
ms–2. Acceleration of the car at this instant makes an angle
of 37° with the radius of the circle on which the particle
lies. Find r.

7. Circular Motion with Constant fi w = w0 + a t ...(i)

Angular Acceleration This equation is similar to v = u + at in linear
kinematics.
Let w0 =
initial angular velocity
dq
a =
constant angular acceleration Now ​ ___​ = w
dt
q =
angular displacement
dq
w =
angular velocity. fi ​ ___​ = w0 + a t
dt
dw
​ ___​ = a q t t
dt w t
fi ​Ú​ ​dq = wo ​Ú​ ​dt + a ​Ú​ ​t dt
\ dw = a dt fi ​Ú ​  ​ dw = a Ú​ ​ ​dt o o o
wo o
 Kinematics of circular motion 7.9

1
fi q = w0t + ​ __ ​ a t2 ...(ii) \ q = q1 + q2 = 330 p rad
2
1
The equation is similar to s = ut + __
​   ​ at2. Eliminating t 330p
Number of rotations = _____
​  ​ = 165.
2 2p
between (i) and (ii) we get

w2 = ​w2​0​​  + 2 a q ...(iii) Example 12 A particle starts moving along a circle of

radius 2 m and its angular velocity (w) changes with time
[Similar to v2 = u2 + 2as] as shown in the graph.
Using (i) and (ii) one can also prove that

(w0 + w
q = ​ ​ ______
2 )
 ​  ​ t ...(iv)

It is easy to show that angular displacement in the nth

second is
1
qn = w0 + __​   ​ (2n – 1) a ...(v)
2
Note: If a is not a constant, then one has to start from one
of the following equations to find the values of the angular (i) Find the maximum radial acceleration of the particle
parameters. during its course of motion.
dq (ii) Find the maximum magnitude of acceleration
w = ___
​  ​  and
dt experienced by the particle during its course of
dw dw motion.
a = ___
​  ​ = w  ​ ___​
dt dq (iii) Find the angular displacement of the particle in 8 s
of its motion.
Example 11 A fan starts from rest and acquires a steady
angular speed of 30 rps in 3 s. Assume the acceleration of Solution
the fan to be uniform. Concepts
(i) Find the angular acceleration of the fan after it
starts. (i) Radial acceleration is maximum when w is
maximum.
(ii) How many rotations does the fan make in 7 s?
(ii) Total acceleration is maximum when both ar and
Solution at are maximum.
Concepts dw
(iii) a = ___
​  ​ = slope of w vs t graph
dt
For the first three seconds the fan is uniformly accelerated.
dq
___
Thereafter, it moves with a constant angular speed. (iv) ​  ​ = w
dt 8
(i) w0 = 0 fi q = ​Ú​  ​ w dt = Area under w vs t graph
w = 30 rps = 30 × 2p = 60 p rad s–1 0

Use w = w0 + a t (i) wmax = 50 rad s–1

fi 60p = 0 + a × 3
\ ar max = r ◊ ​w2​max​ = 2 × 502 = 5000 rad s–1
–2
fi a = 20p rad s (ii) Tangential acceleration at = r a
(ii) Angular displacement in the first 3 s will be at is maximum when a is maximum. From the
q1 = w0t + __
1
​   ​ a t2 graph a (= slope) is maximum in the time interval
2 0 < t < 2 s.
1
__ 50
= 0 + ​   ​ × 20p × 32 = 90p rad amax = ___
​   ​ = 25 rad s–2
2 2
From time t = 3 s to t = 7 s the fan moves with a constant fi at max = 50 rad s–2
angular speed of 60p rad s–1. Hence, displacement in next
4 s is Just before t = 2 s, radial and tangential components
q2 = 4 × 60p = 240 p rad of acceleration are maximum.
7.10 Mechanics I

___________
amax = ​÷​a2​r max​ + a​   dq 3t2
fi ​ ___​ = ___
2
\ ​t max​ ​   ​
_____________ dt 2
 ​ = ​÷(5000)2 +   
(50)2 ​ 3
qo 2
fi ​Ú​ ​ ​dq = __
​   ​ Ú​ ​ ​t2 dt
= 5000.2 rad s–2 o 2 0
(iii) q = area under w vs t graph
= __
1
​   ​ × 50 × (8 + 3) = 275 rad.
2
fi
3 t3 2
q0 = __
2 3 0 []
​   ​ ​​ __
​   ​  ​​ ​​  = 4 rad

For 2 s £ t £ 6 s we have
Example 13 A particle moves in a circular path starting w = 6 rad s–1 (constant)
from rest. Its angular acceleration is given as
\ Angular displacement in ths interval 2 s £ t £ 6 s
a = 3t rad s–2 for 0 £ t £ 2 s
q1 = 6 × 4 = 24 rad
= 0 for t > 2 s
\ At the end of 6 s, total angular displacement is q =
(i) Find the angular velocity of the particle at t = 6 s. q0 + q1 = 28 rad.
(ii) Find the angular displacement of the particle in the
first 6 s of its motion. Example 14 A spinning wheel is brought to rest from
a speed of 100 rpm by applying brakes over a period of
Solution 5 s. Assume that the brakes produce a uniform angular
Concepts retardation.
For the first 2 s of motion, the particle is moving with a vari- (i) Find the angular deceleration of the wheel.
able acceleration and thereafter it has no acceleration. (ii) Find the number of revolutions made by the wheel
during the braking.
(i) For 0 £ t £ 2 s we have
Solution
dw
___
​   ​ = 3t Concepts
dt
fi dw = 3t dt It is not always necessary to convert rpm in rad s–1.
w t
Here we will convert rpm in rps because time is given
fi ​Ú​ ​ ​dw = 3 ​Ú​ ​t dt in second.
o o
2
(i) w = w0 – a t where a = angular retardation
3t
fi w = ___
​   ​ ...(i) w0 – w 100 rpm – 0
2 2 fi a = ​ ______​ = ​  __________  ​
  
2 t 5s
At w = 3 × __
t = 2 s, ​   ​ = 6 rad s–1
2 100 rev ___ 1
= ​ _______  ​ ◊ ​   ​ = 0.33 rev s–2.
There is no angular acceleration after t = 2 s. 60 s 5 s
\ Angular speed at t = 6 s is same as the angular 1
(ii) q = w0t – __
​   ​ a t2
speed at t = 2 s. 2
(ii) For 0 £ t £ 2 s
3t2
= ____
100 rev
​   ​ ___
60 s
​   ​ ◊ 5s – __
1 rev
​   ​ ​ 0.33 ___
2 ( )
​  2 ​  ​ ◊ 25 s2
s
w = ___
​   ​ = 4.21 rev.
2

Your Turn
q1
Q.17 A fan is switched on and it moves with a constant an additional angle q2. Find __
​   ​.
q2
angular acceleration to acquire its full speed of 10 rps in
10 s. Find the angular acceleration of the fan.
Q.19 Tangential acceleration of a point moving in a circle
Q.18 A particle starts from rest and moves along a circle is 0.5 ms–2. Find the total acceleration of the point at the
with uniform angular acceleration. In the first 2 s it rotates 1
through an angle q1 and in the next 2 s it rotates through instant it has covered ___
​   ​ th of the circle after starting from
10
rest.
 Kinematics of circular motion 7.11

Q.20 A particle is rotating in a circle of radius r = 1 m. (iv) Find the number of rotations that the particle makes
It’s angular velocity (w) changes with time according to the before coming to rest.
graph shown in the figure. Q.21 A particle is moving in a circle of radius 1 m with
an angular speed w0. It begins to slow down and comes to
rest at t = 10 s. During the period 0 £ t £ 10 s it experienced
an angular retardation (a) that changed with time as shown
in the graph. Find w0.

–2
a (rad s )

10

(i) Find the angular acceleration of the particle at t = 2 s.

(ii) Find the centripetal acceleration at t = 2 s
(iii) Find the acceleration of the particle at t = 2 s O t (s)
10

8. Radius of Curvature Example 15 A particle is thrown from the ground with

a velocity u making an angle q  (> 45°) with the horizontal.
Radius of curvature of a curve at a point is the radius of Find the radius of curvature of the path at a point where the
the circular arc which best approximates the curve at that velocity of the particle makes an angle q with the vertical.
point. Consider an arbitrary curve as shown in the figure. A
small segment of the curve at A fits perfectly on a circle of Solution
radius rA. rA is called the radius of the curvature at point A
Concepts
and centre of the circle (O) is called the centre of curvature
at point A. (i) Horizontal component of the velocity of a pro-
jectile never changes. This helps us in calculating
speed at the instant velocity makes an angle q with
the vertical.
(ii) We assume that the projectile is negotiating a circle
of radius R at the desired point. Component of
acceleration perpendicular to velocity (i.e. tangent)
v2
is normal acceleration. It is equal to ​ __​
R
Similarly, rB and rC are the radii of curvature at points B
and C respectively. A sharp bend (like at point C) means a Let the velocity be v at point P making an angle q with
smaller radius of curvature and a broad turn means a larger vertical
radius of curvature.
vx = ux
Inverse of radius of curvature is called the curvature of
the curve. fi v sin q = u cos q fi v = u cot q
Any curve is thought to be made by smoothly joining Acceleration of the projectile is g (Ø) component of
small segments of many circles. If a particle is negotiating acceleration perpendicular to velocity (i.e., tangent) is
a curve, we can assume that it is moving on a circle at g sin q.
any point of time. The acceleration of the particle can be
We consider a small segment of the parabolic path at P
resolved into two components — radial and tangential. The
to be a circle of radius R.
tangential acceleration (at) is equal to the rate of change of
speed and the radial component (the component of accelera- v2
__
​  ​ = g sin q
v2
tion perpendicular to the tangent) is equal to __​  ​ where v is R
R
speed of the particle and R is the radius of curvature of v2 u2 cot2 q
fi R = ______
​  ​ = _______
​  ​
the path. g sin q g sin q
7.12 Mechanics I

Tangential acceleration is
​_› ​_›
​a ​ ◊ ​v ​ 3______
+4 7
at = ____
​  _​ › ​ = ​ _______  ​ = __
​   ​ = 1.4 ms–2
​v ​ ÷​ 3 + 4  ​ 5
2 2

  
Example 16   A particle is moving in an xy plane and its
velocity and acceleration at an instant is given by
​_› ​_›
​v ​ = (3 +4 ) ms–1 and ​a ​ = ( + ) ms–2 Normal acceleration is calculated as
Find the radius of curvature of the path of the particle at a​ 2​n​​  + a​ 2​t​ ​ = a2
the given instant. __
fi ​a​2n​​  + (1.4)2 = (​÷2 ​)2
Solution
Concepts fi an = 0.2 ms–2
(i) Tangential component of acceleration is given by
​_› _
​› v2
​a ​ ◊ ​v ​ \ ​ __​ = 0.2
at = ____
​  ​_› ​ R
​v ​
52
(ii) Using a2 = ​a2​n​​  + ​a2​t​ ​ we can get the normal compo- fi ​ __​ = 0.2 fi R = 125 m.
R
nent of acceleration.

Your Turn

Q.22 A particle is projected with a speed of 10 ms–1 at an Q.24 A roller coaster moves on a track shown in the
angle of 60° to the horizontal. Find the radius of curvature figure while maintaining a constant speed. At which of the
of the path indicated points will it have the largest acceleration?
(i) at the top point of the trajectory.
(ii) at a point where the velocity vector makes an angle
of 30° with the horizontal.
Q.23 A particle is moving in a plane. At a particular
instant its speed is 10 ms–1 and its acceleration makes an
angle of 37° with its velocity. Radius of curvature of the
path at the instant is 20 m. Find the rate of change of speed
of the particle.

9. Relative angular velocity

Consider​_ a particle P moving in a plane with its velocity
›
vector (​v ​) making an angle f with the unit vector at some
instant. The two components of velocity can be interpreted
as:
 Kinematics of circular motion 7.13

dr
vr = v cos f = __
​  ​ and However, let’s solve the problem using the relation learnt
dt in the previous article.
dq
vq = v sin f = r ​ ___​ = rw
dt
vq
w = ​ __
r ​ is the angular speed of the particle about point O.
Now consider two par-
ticles A and B moving in
a plane. At an instant
​_›
their
​_›
velocities are ​v ​A and ​v ​B
respectively and the sepa-
ration between them is r.
​_› ​_› ​_›
Velocity of B with respect to A is ​v ​BA = ​v ​B – ​v ​A.
In reference frame of A we can write angular velocity of Velocities of A and B are
B as perpendicular to the line AB.
vBA q
w = ____
​  r ​ vB = w (2r)
vA = w ◊ r

\ Velocity of B relative to A,
perpendicular to A, is

= vB – vA = wr.
It is easy to see that wr
\ wBA = ___
​  a ​ = w.
vBAq = vB sin b – vA sin a
Example 18 In the figure shown, find the angular velocity
In short
dr
Angular velocity of B relative to A is of B relative to A. Also find __
​  ​.
dt

wBA
|
​​
​
velocity of B with respect to A in a
     ​ ​ 
direction perpendicular to AB ​
= ​ _________________________________
    
AB
  ​
|
Example 17 Particles A and B are
rotating in concentric circles of radii Sol: Magnitude of relative velocity of B relative to A in
r and 2r respectively. Both rotate direction perpendicular to AB is
anticlockwise with the same angular
speed w about the centre O. O, A and = 8 sin 30° – (– 6 sin 30°)
B lie on a straight line (see figure). Find
the angular speed of B relative to A. = 7 ms–1

7
Solution \ wBA = ___
​   ​ = 0.7 rad s–1
10
Concepts
Relative angular speed is not zero. An observer sitting dr
__
​  ​ = relative velocity along AB
on A sees that B is located below him (as shown in the dt
figure). After some time he will find B to his right, then he
will find B above him, thereafter B will appear to his left. = 6 cos 30° – 8 cos 30°
When the rotation is complete, he again finds B below him. __
This simple observation is enough to answer the problem. = – ​÷3 ​ ms–1
Angular speed of B about A is w.
Negative sign indicates that separation r is decreasing.
7.14 Mechanics I

Your Turn
Q.25 A car is running at a speed of 20 ms–1 on a straight (i) When the car is at A (see the figure) the dog begins
highway. A dog is standing at a point D at a distance d = 20 m to run towards it (along DA) at a speed of 5 ms–1.
from the highway. Find the angular speed of the car relative to the dog
immediately after it begins to run.
(ii) When the car is at B, the dog begins to run along
DB. Find the angular speed of the dog relative to the
car at this instant.

Miscellaneous Examples

Example 19 A particle ​moves in a circle of radius R so Example 20 Particle A moves on a circle of radius r and
_
that its position vector (​r›​) relative to a point O on the another particle B moves along a tangent XX to the circle.
circumference of the circle rotates with a constant angular Both particles were initially at point P and B moves with a
velocity w. Find the speed and the magnitude of accelera- uniform velocity u. A moves such that the line joining B to A
tion of the particle. always passes through the centre (O) of the circle. Calculate
acceleration of A as a function of q (see figure).
Solution
Concepts
v = wR correctly gives the speed of the particle if w is
the angular speed about the centre of a circle. We need to
find the angular speed about the centre using the geometry
of the situation.

Solution
Concepts
(i) Angular speed of both A and B with respect to O

(dq
is same ​ w = ___
​  ​  ​
dt )
From the figure it is evident that (ii) Angular velocity of B
f = 2q Component of u perpendicular to OB
= ​  ______________________________
       ​
OB
df dq ______
fi ​ ___​ = 2 ​ ___​
dt dt (iii) Acceleration of A is ​÷​a2​r​ ​ + a​ 2​t​ ​ ​

fi w0 = 2w where w0 = angular speed about the Angular speed of A = Angular speed of B about O
centre (C). u cos q ______
u cos q __ u
\ w = ______
​  ​ = ​  ​ = ​ r ​ cos2q
OB r sec q
\ Speed of the particle is v = w0R = 2wR
Radial acceleration for A is
Since speed is a constant, acceleration has a radial u2
component only. ar = w2r = __​ r ​ cos4q
v2 Tangential acceleration for A is
\ a = __
​  ​ = 4 w2R towards the centre.
R
 Kinematics of circular motion 7.15

d (wr) u dq fi [ln w​]w​w0​ = – kt

at = _____
​  ​ = r ◊ ​ __r ​ ◊ 2 ◊ cos q (– sin q) ​ ___​
dt dt
fi [ln w – ln w0] = – kt
= – (2 u cos q ◊ sin q) w
fi ( ) w
ln ​ ___
​   ​  ​ = – kt
w0
2u2
= – ​ ___ 3
r ​ sin q cos q
w
fi ​ ___ ​ = e– kt
w0
______
\ aA = ​÷​a2​r​ ​ + a​ 2​t​ ​ ​ fi w = w0 e– kt
_____________
u2 This is the required expres-
= ​ __
r ​ cos q ​÷4 sin q + cos
3 2 2
  q
sion. Graph of w vs t is as shown.
u2
_________ Note that w Æ 0 when t Æ •
 ​ = ​ __
r ​ cos q ​÷1 + 3 sin q ​
3 2

Example 23 A wheel is rotating at an angular speed of

5 rad s–1. A bead A is moving outward along a spoke with
Example 21 A car is moving on a circle of radius R with
a velocity of 3 ms–1 relative to the
a constant speed. Another car is moving uniformly along a
wheel. When the spoke makes an
straight line (in the plane of the circle) with speed equal to
angle of q = 37° with the x axis, the
that of the first car. The magnitude of relative acceleration
distance of the bead from the centre
of the two cars is a. Find the speeds of the two cars.
(origin) is r = 1 m. Find the velocity
of the bead relative to the ground at
Solution
this instant in terms of unit vectors
Concepts and .
The car moving along the straight line has no acceleration.
Therefore, relative acceleration is equal to the acceleration Solution
of the car moving along the circle. Concepts
​_›
Acceleration of the car moving uniformly along the circle ​v ​ = (vr) + (vq) q where
is
dr
v2 vr = __
​  ​  and vq = rw.
a = __
​  ​ towards the centre. dt
R
v2
Magnitude of relative acceleration = __ ​  ​ For the bead, radial component of velocity is
R
v__2 ___ vr = 3 ms–1
\ ​  ​ = a fi v = ÷ ​ aR ​ And
R
vq = wr = 5 × 1 = 5 ms–1
Example 22 Magnitude of angular deceleration of a par- ​_›
ticle rotating in a circle is proportional to its angular speed \ ​v ​ = 3 + 5q
(w). Assume proportionality constant to be k and find an
expression for w as a function of time. It is given that angular But = cos q + sin q   = cos 37° + sin 37°
speed at time t = 0 is w0. Also draw a graph showing the
4 3
variation of w with time. = __
​   ​ + __
​   ​
5 5
Solution
and q = – sin q   + cos q  
Concepts
dw
___ 3 4
​  ​ = – kw = – ​ __ ​  + __
​   ​ 
dt 5 5
Negative sign indicates that w decreases with time.

dw
___
​  ​ = – kw
(
​_› 12
\ ​v ​ = ​ ___
5
9
​   ​   + __ )
​   ​  ​ + (– 3 + 4 )
5
dt
= ​( – ​ __ ​   + ___
​   ​  )​ ms
dw 3 29
fi ​ ___ ​ = – k dt
–1
w 5 5
w t
dw
fi ​Ú ​  ​ ​ ___ ​ = – k ​Ú​ ​dt
wo w o
7.16 Mechanics I

v2 u2 – ​ __ 2s
|at| = |ar| = ​ __​ = __
Example 24 A point moves with deceleration along a circle ​
​  ​ ​e​ R
of radius R such that at any instant its tangential and radial R R
______ __
accelerations have the same magnitude. At time t = 0, speed ​ 2 ​ u2 – ​ __
÷ 2s
a = ​÷​a2​t​ ​ + a​ 2​r​ ​ ​ = ​ _____
​
​ \  ​ ​e​ R ​
of the particle is u. R
(i) Find the speed of the point as a function of time (t). Example 25 Three men stand on the vertices of an
(ii) Find the speed as a function of the distance travelled (s). equilateral triangle of side length L. They begin to walk
(iii) Find the acceleration of the point as a function of s. towards each other at a constant speed v. Man A always
follows B (i.e., he is headed along the line AB), B follows
Solution C and C follows A.
Concepts (i) Take the centroid of the original triangle as the origin
(O), distance of man A from O as r and q as the
| |
dv
​ ___
dt
retarding.
dv
dt
dv
​  ​  ​ = – ​ ___​ since ​ ___​ itself is negative as the particle is
dt
angular displacement of the man with respect to O.
Write the trajectory equation of the man in terms of
dv dv r and q.
To get relation between v and s, write ___ ​  ​  as v  ​ ___​ (ii) Calculate the time required for the men to meet.
dt ds
dv Solution
(i) |at| = – ​ ___​
dt Concepts
v__2 It is easy to see from symmetry that the three men will
ar = ​  ​
R meet at the centroid of the triangle. At any point in time
dv v2 three men will be located on the vertices of an equilateral
given – ​ ___​ = __
​  ​ ...(i) triangle. The triangle will go on reducing in size and ulti-
dt R
v t
mately converge into a point at the centroid.
dv 1
fi ​Ú​ ​ ___
​  2 ​ = – ​ __​ ​Ú​ ​dt (i) Figure shows the position of the three men at any
u v R o
instant. We will consider the motion of man A who is
1 1 t
fi ​ __ v ​ –
__
​ u ​ = __
​  ​ having his instantaneous velocity directed towards B.
R This velocity always makes an angle 30° with OA.
1 __t 1 1 ut +R
fi ​ __ __ __ ______
v ​ = ​ R ​ + ​ u ​  fi ​ v ​ = ​  Ru

Ru u
 ​ fi v = ______
​  ​ = ______
​  u ​ ...(ii)
R + ut 1 + __ ​  ​ t
R
This is v as a function of t.
dv v2
(ii) From (i) – ___
​  ​ = __
​  ​
dt R

dv v2 dv 1
fi – v  ​ ___​ = ​  ​  fi ​ ___
__ __
v ​ = – ​ R ​ ds
ds R
v s
dv 1
fi ​Ú​ ​ ​ ___ __
v ​ = – ​ R ​  ​Ú0​ ​ds \ vr = – v cos 30°
u
__
s dr ÷
​ 3 ​
fi – ​ __​
[ln ​v]​vu​ ​  = fi ​ __​ = – ___
​   ​ v ...(i)
R dt 2
s
fi ln v – ln u = – ​ __​ And vq = v sin 30°
R
s dq v
fi
v
ln ​ __ ​ = –  ​ 
s
__ ​  fi ​ 
v
__ ​ = ​
e
– ​ __​
​ R​ fi r  ​ ___​ = __
​   ​ ...(ii)
u R u dt 2
s
– ​ __​ Dividing (i) by (ii) we get
fi v = u ​e​ R ​
dr __
(iii) At any given point of time ____
​  ​ = – ​÷3 ​
r dq
 Kinematics of circular motion 7.17

dr __
fi ​Ú ​ ​__
r ​ = ÷
– ​ 3 ​ ​Ú ​ ​dq
__
fi ln r = – ​÷3 ​q + C
__
fi ln r – ln r0 = – ​÷3 ​q [C = ln r0 = a constant]
r __
fi ln  ​ __
r0  ​ = ÷
– ​ 3 ​ q
__
r
fi ​ __ – ​÷3 ​ q
r0 ​ = e​ ​ ​ Solution
__
fi r = r0 ​e​ –​÷3 ​ q
​ Concepts
(i) Velocity of water coming out of the nozzle is
when q = 0, r = r0
obtained by vector addition of velocity of the
\ r0 is the initial separation nozzle (wr) to the relative velocity.
between O and A. (ii) Vertical component of velocity of water decides
L the time of flight. And range is horizontal velocity
r0 = ___
​  __ ​ multiplied with the time of flight.
÷
​ 3 ​
__
L__ – ​÷3 ​ q Relative velocity of water
\ r = ​ ___  ​ ​e​ ​
÷
​ 3 ​ ​_›
​v ​r = v cos 60° + v sin 60°
Path of a man is as shown in the figure. __
v ÷
​ 3 ​
= ​ __ ​   + ___
​   ​ v  
2 2

Velocity of the nozzle = wr

Three men always lie on an equilateral triangle as shown
in the other figure. = 2 × 0.3
(ii) Velocity component of A towards O is always v cos 30° = 0.6
__
÷
​ 3 ​ Velocity of water relative to the ground is
= v ___
​   ​ ​_› ​_›
2 ​v ​g = ​v ​r + 0.6
__
÷
​ 3 ​dr __
fi ___– __
​  ​ =
​   ​ v (a constant). v ÷
​ 3 ​
2 dt = __
​   ​ + 0.6 + ___
​   ​ v
L 2 2
\ r will reduce to zero from ___ ​  __ ​ in a time given
÷
​ 3 ​ For v = 3 ms–1
by
__ ​_›
L /​÷3 ​ ___2L ​v ​g = 1.5 + 0.6 + 2.6
t = ______
​  __ ​ = ​  .​
​ 3 ​/2 v 3v
÷ Horizontal and vertical components of this velocity are
_________
Example 26   A water sprinkler is rotating uniformly with vH = ​÷1.52 + 0.62 ​ = 1.6 ms–1
an angular speed of w = 2 rad s–1. Water comes out at an
angle of 60° with the horizontal from nozzles which are vV = 2.6 ms–1
located at a distance of 30 cm from a rotation axis. The
nozzles are at height of 20 cm from the ground. Speed of 2vv 2 × 2.6
\ Time of flight T = ___
​  g ​ = ​ ______
 ​ = 0.52 s
water coming out from the nozzle is varying between 3 ms–1 10
to 6 ms–1 relative to the nozzle. What area of the lawn will Water will be sprinkled in a circle of radius
be watered?
7.18 Mechanics I

r1 = vH ◊ T = 1.6 × 0.52 = 0.83 m. q0 to

For v = 6 ms –1 fi
o o
( ___ kt
Ú​ ​ ​ ​dq = ​Ú​ ​ ​ ​​ ​÷w0 ​ – __ )2
​   ​  ​​ ​ dt
2
​_›


​v ​g = 3 + 0.6
_______
vH = ​÷9 + 0.36 ​ = 3.05 ms–1
+ 5.2
fi
2
[(
___ kt 3 t0
q0 = – ​ ___​ ​​ ​​ ​÷w0 ​ – __
3k )]
​   ​  ​​ ​  ​​ ​ ​
2 0

vv = 5.2 ms–1
2vv
2
= – ___
___
​  ​ ​ ​​ ​ w0 ​ –
3k [(÷ kt0 3
___
)
​   ​  ​​ ​ – w03/2 ​
2 ]
T = ___
​  g ​ = 1.04 s 2​÷w0 ​
___
Putting t0 = _____
​  ​
Water gets sprinkled in a circle of radius r2 = vH ◊ T k
= 3.05 × 1.04 = 3.16 m. 2 2 ​w3/2
​0​  ​
q0 = – ​ ___​ [0 – ​w3/2
​0​  ​] = ​ _____
Since speed changes from 3 ms–1 to 3k 3k
6 ms–1, the entire area lying between q0 2​w3/2
​0​  ​ w0
k
r1 and r2 gets watered  ​ \ ·wÒ = __
​   ​ = _____
​  ​× _____
​  ___ ​ = ___
​   ​
t0 3k 2​÷w0 ​ 3
\ A = p r​ 2​2​​  – p r​ 2​1​​ 
Example 28 A balloon begins to rise from the ground sur-
= 3.14 [(3.16)2 – (0.83)2] face and its ascension rate is constant equal to u. Due to wind
it gathers a horizontal velocity component vx = ky where k is
= 3.14 [9.98 – 0.69] = 29.17 m2 a positive constant and y is the height of ascent. Find
(i) the trajectory equation of the balloon.
Example 27  A particle is moving in a circle with an angular
(ii) the tangential acceleration, total acceleration and
speed w__
0. It begins to decelerate with the angular retardation normal acceleration of the balloon.
a=k÷ ​ w ​ where k is a positive constant and w is the instan-
taneous angular speed. Find the average angular velocity of Solution
the particle averaged over the whole time of rotation. Concepts
Solution (i) We will express x and y co-ordinates of the balloon
as a function of time and then will eliminate time
Concepts
(t) between them to get the trajectory equation.
We need to find the time (t0) in which the particle will ______
dv
come to rest. Then we will calculate the angular displace- (ii) speed v = ​÷​v2​x​ ​ + v​ 2​y​ ​ ​  and at = ​ ___​
ment (q0) it undergoes in this time. dt
qo dy
·wÒ = __
​   ​ (i) ​ ___​ = u (= a constant)
t0 dt
__ y t
dw
Given: – ​ ___​ = k ​÷w ​ fi ​Ú​ ​dy = u ​Ú​ ​dt
dt o o
w t
dw fi y = ut ...(i)
fi ​Ú ​ ​ ​ ___
__ ​ = – k ​Ú​ ​dt
wo ÷ ​ w​ o

__
fi ​​[ 2 ​÷w ​ ]w​w0​ = – k t

fi (___ kt 2
w = ​​ ​÷w0 ​ – __
​   ​  ​​ ​
2 ) ...(i)

The particle stops when w = 0

___ kt
fi ​÷w0 ​ – __
​   ​ = 0
2
___
2​÷w0 ​
fi to = _____
​  ​ Also,
k vx = ky
From (i)
dx
fi ​ ___  ​ = k ut

dq
___
( ___
​  ​ = ​​ ​÷w0 ​ –
dt
kt 2
__
)
​   ​  ​​ ​
2
dt
 Kinematics of circular motion 7.19

x t
Since ay = 0
fi ​Ú​ ​  dx = ku ​Ú​ ​  t dt dvx
o o \ Total acceleration is a = ax = ___
​  ​
dt
ku t2
fi x = ​ ____
 ​ ...(ii) dy
2 fi a = k  ​ ___​ = ku.
dt
Eliminating‘t’ between (i) and (ii) we get

( )
2u
y2 = ​ ___
​  ​  ​ x
k
Normal acceleration can be calculated as:

a​ 2​n​​  + a​ 2​t​ ​ = a2
This is the required trajectory equation.
______ k4 y2
(ii) Speed at any instant is v = ​÷​v2​x​ ​ + v​ 2​y​ ​ ​  k2 u2 – _________
fi ​a​2n​ = ​   ​

( )
2 2
k____
y
________ ​ 1 + ​  2 ​  ​
 ​ fi v = ​÷u2 + k2 y2 ​ u

dv k2 y dy k2y u
\ at = ​ ___​ = ​ _________
________  ​ ___
​  ​ = ​ _________
________  ​ k2u4 + k4 y2 u2 – k4 y2 u2
dt ​ u2 + k2y2 ​ dt ​ u2 + k2 y2 ​ = ​  ___________________
     ​
  
÷ ÷ u2 + k2 y2
k2y
fi at = _________
​  _______  ​ fi
ku2
an = _________
ku
    ​ = _________
​  ________ ​  ________
    ​

÷
k2 y2
÷
​ 1 + ____
​  2 ​ ​ ​÷u + k y  ​
2 2 2 2 2
k____y
​ 1 + ​  2 ​  ​
u u
Worksheet 1
​__›
1. A stone is tied to the end of a string and is whirled 7. A particle is moving ​_in a circle of radius r. ​w​ is its
›
in a horizontal circle of radius 80 cm at a constant angular velocity and ​r ​ is its position vector relative
speed. If the stone makes 14 revolutions in 25 s, the to the centre of the circle. Centripetal acceleration of
magnitude of acceleration is the particle can be expressed as
​__› _
​ › _​ _› ​__› _​ _› _ ​__› _
​ › _​ _› ​__› _​ _› _
(a) 20 ms–2 (b) 12 ms–2 (a) (​w​◊​r ​)w​
​›
​ – (​w​◊​w​)​r ​ (b) (​w​◊​r ​)w​
​ + (​w​◊​w​)​r ​
​›

(c) 9.8 ms–2 (d) 8 ms–2 ​__› _

​› _
​› ​__› _​ _› _
​› ​__› _
​ › _​ _› ​__› _​ _› _
​› ​__›
2. The second’s hand of a watch has length 6 cm. Speed (c) (​w​◊​r ​)​r ​ – (​w​◊​w​)​r ​ (d) (​w​◊​r ​)w​
​ – (​w​◊​w​)​r ​ × w​
​
​_›
of end point and magnitude of difference of velocities 8. A particle is moving in a circle. ​v ​ is its velocity
​_›
at two perpendicular positions will be and ​a ​ is its acceleration. Rate of change of speed of
(a) 2p and 0 mms–1 the particle can be expressed as
__ ​_› ​_› ​_› ​_›
(b) 2 ​÷2 ​ p and 4.44 mms–1 ​a ​◊​v ​ ​a ​◊​v ​
(a) ​ ____
​ › ​
_ ____
(b) ​  ​ ›  ​
_
__
(c) 2 ​÷2 ​ p and 2p mms–1
​v ​ ​| ​v ​ |​
__ ​_› ​_
› ​_› ​_› ​_›
(d) 2p and 2 ​÷2 ​ p mms–1 ​a ​ × ​v ​ (​a ​ × ​v ​) ◊​v ​
(c) ​ _____ ​_›  ​
__________
(d) ​  ​_›  ​   
3. A particle is kept fixed on a turntable rotating
|​ ​v ​ |​ ​| ​v ​ |​
9. A ring of radius 2 m rotates
uniformly. As seen from the ground, the particle goes
about the z-axis in an xy plane
in a circle, its speed is 20 cms–1 and acceleration
as shown in the figure. At a
is 20 cms–2. The particle is now shifted to a new
certain instant the acceleration
position so as to make the radius half of the original
of a point P on the ring is
value. The new values of speed and acceleration will
be (6 – 8 )ms–2. The angular
acceleration of the ring and
(a) 10 cms–1, 10 cms–2 (b) 10 cms–1, 80 cms–2
the angular velocity at that
(c) 40 cms–1, 10 cms–2 (d) 40 cms–1, 40 cms–2 instant are
4. A wheel having a diameter of 3 m starts from rest (a) – 3 rad s–2, – 2 rad s–1,
and accelerates uniformly to an angular velocity of (b) 3 rad s–2, 2 rad s–1
210 rpm in 5 s. Angular acceleration of the wheel (c) – 4 rad s–2, – 2 rad s–1
is
(d) 3 rad s–2, – 2 rad s–1
(a) 1.4 p rad s–2 (b) 3.3 p rad s–2 10. A particle is performing circular motion of radius
–2
(c) 2.2 p rad s (d) 1.1 p rad s–2 1 m. Its speed is v = (2t2) ms–1. What will be the
5. For a particle performing circular motion, w, v, r magnitude of its acceleration at time t = 1 s?
represent the angular velocity vector, velocity vector __ __
and position vector of the particle relative to the (a) 2 ​÷2 ​ ms–2 (b) 4 ​÷2 ​ ms–2
centre respectively. Centripetal acceleration is given (c) 2 ms–2 (d) 8 ms–2
by 11. A particle starts from rest and moves on a circle
(a) a × r (b) w × v with a constant angular acceleration of 3 rad s–2.
An observer starts his stopwatch at a later time
(c) a × v (d) w × r
and records that the particle covers an angular dis-
6. A car is travelling on a circular road of radius r. It is placement of 120 rad at the end of 4 s. How long
increasing its speed at a rate of ‘a’ ms–2. Its accelera- after the particle had started to move the observer
tion at the instant its speed is v will be started his stopwatch?
________ ________
(a) 8 s (b) 12 s

÷( ) ÷( )
v2 v4
(a) ​ ​ __
​  2 ​ – a2   ​ ​ (b) ​ ​ __
​  2 ​ + a2   ​ ​ (c) 9.9 s (d) 18 s
r r
12. A particle is moving in a circular path. The
________ ________ acceleration and velocity of the particle at a certain

÷( ) ÷( )
​_› ​_›
v4 v2 moment are ​a ​ = (4 + 3 ) ms–2 and ​v ​ = (8 – 6 )
(c) ​ ​ __
​  2 ​ – a2   ​ ​ (d) ​ ​ __
​  2 ​ + a2   ​ ​
r r ms–1. The motion of the particle is

7.20
 (a) Uniform circular motion (a) p /(6w) (b) 5p /(3w)
(b) Accelerated circular motion (c) 5p /(6w) (d) None
(c) Decelerated circular motion 17. Pick up the only correct statement in the following
(d) None of the above (a) A body having a constant velocity can still have
13. Two particles are going in a uniform helical and a varying speed
spiral path separately (as shown in the figure) with (b) A body having an acceleration of constant
constant speeds. magnitude can move with a constant speed
(a) The velocity of the particle is constant in both (c) Speed of a body will definitely change if it has
the cases. non zero acceleration
(b) The acceleration of the particle is constant in (d) A body starting from rest cannot move in
both the cases. a straight line if it experiences a variable
(c) The magnitude of acceleration is constant in (A) acceleration
and decreasing in (B). 18. A wind power generator uses a two-bladed propeller
(d) The magnitude of acceleration is decreasing mounted on a pole at a height of 20 m. The length
continuously in both the cases. of each propeller blade is
12 m and the period of the
motion of the propeller is
1.2 s. Tip of the upper pro-
peller breaks off when the
propeller is vertical. The
fragment flies off horizon-
tally. It strikes the ground
at point P. The distance
from the base of the pole
14. A particle starts from rest and performs circular to point P is closest to
motion of radius 1m. The tangential acceleration of (a) 120 m (b) 130 m
the particle at any time t is given by at = t ms–2. The (c) 140 m (d) 160 m
radial acceleration of the particle at t = 2 s is 19. A racing car is travelling along a straight track at a
(a) 1 ms–2 (b) 2 ms–2 constant speed of 40 ms–1. A camera man is record-
(c) 0.5 ms–2 (d) 4 ms–2 ing the event from a distance of 30 m directly away
15. Particle A is moving along a straight line with con- from the track as shown in the figure. In order to keep
stant velocity v as shown in the fig- the car under view in the position shown, the angular
ure. Another particle B is moving speed with which the camera should be rotated, is
in a circle with same speed v. The
line and the circle are in the same
plane. At the moment when A is
diametrically opposite to B, the
radius of curvature of path of B
as seen by A will be (Radius of the circle is R)
(a) R (b) R/2
(c) 2R (d) 4R
16. A body moves in a circle of radius R having centre at
the origin, with an angular velocity w in the x-y plane
as shown in the figure. Another (a) 4/3 rad
__
s–1 (b) 3/4 rad s–1
body moves parallel to the y-axis (c) 8/3 ​÷3 ​ rad s–1 (d) 1 rad s–1
with constant velocity (Rw /2). 20. A body is thrown with the velocity v0 = 10 ms–1 at
At time t = 0, both objects are at an angle of a = 37° from the horizontal ground. Find
(R, 0). The time t, when the first the angular velocity of the body as observed from the
body has velocity only along the point of projection at the time of landing.
positive x-axis with respect to
the second body is

7.21
 5 5 (a) increasing (b) decreasing
(a) ​ __ ​ rad s–1 (b) ​ __ ​ rad s–1
8 6 (c) constant (d) can’t be say
5
(c) ​ __ ​ rad s–1 (d) None of these 23. A table fan, rotating at a speed of 2400 rev/min,
3 is switched off and the resulting variation of the
21. A particle moves in the xy – plane. The position vector revolutions per minute with time is shown in the
​_›
of the particle at any time t is ​r ​ = [(2t) + (2t2) ] m. figure. The total number of revolutions of the fan
q is the angle which its velocity vector makes with before it comes to rest is
the positive [Link] rate of change of q at time
t = 1 s is
3 2
(a) ​ __ ​ rad s–1 (b) ​ __ ​ rad s–1
7 5
2
(c) ​ ___ ​ rad s–1 (d) None of these
17
22. At a particular instant velocity and acceleration of a
particle are (– + + 2 ) ms–1 and (3 – + ) ms–2
respectively. At the given instant particle's speed is (a) 280 (b) 140
(c) 70 (d) 210

7.22
Worksheet 2
1. A block is placed on a horizontal table which is rotat- (c) Speed of the particle at time t = 2 s is
ing about its vertical axis. Table rotates such that the 3.14 ms–1.
particle does not slide. Arrows 1, 2, 3, 4 show the (d) Centripetal acceleration of the particle at time
possible direction of acceleration of the block at the t = 2 s is less than 10 ms–2.
instant shown in the figure. Which of the followings 4. Position vector of a particle moving in an x-y plane
are correct? _
​›
at time t is ​r ​ = a (1 – cos w t) + a sin w t .
(a) Path of the particle is a circle of radius a and
centre at (a, 0).
(b) Acceleration of the particle has magnitude
w 2a.
(c) Path of the particle is an ellipse of major axis 2 a
and minor axis a.
(d) Path of the particle is a straight line.
(a) When the table is rotating clockwise with a 5. Which of the following statements are true for a
constant angular speed the acceleration is along moving body?
the direction shown by arrow 3. (a) if its speed changes, its velocity must change
(b) When the table is rotating clockwise with a and it must have some acceleration.
decreasing angular speed the acceleration is (b) if its velocity changes, its speed must change
along the direction shown by arrow 2. and it must have some acceleration.
(c) When the table is rotating clockwise with an (c) if its velocity changes, its speed may or may not
increasing angular speed the acceleration is change, and it must have some acceleration.
along the direction shown by arrow 2. (d) if its speed changes, but direction of motion does
(d) Just after the clockwise rotation begins from not change, its velocity may remain constant.
rest the direction of acceleration is represented 6. A body moves in a circular path of radius R with
by arrow 1. deceleration so that at any moment of time its
tangential and normal accelerations are equal in mag-
2. A particle is moving on a circular path of radius nitude. At time t = 0, the velocity of the body is v0.
1.5 m at a constant angular acceleration of 2 rad s–2. The velocity of the body at some later instant can be
At the instant t = 0, angular speed is 60/ p rpm. expressed as
(a) Angular speed of the particle at time t = 2 s is v0
6 rad s–1. (a) v = ________
​   ​ at time t
(b) Angular displacement of the particle at time ( v0t
​ 1 + ___ )
​  ​  ​
R
t = 2 s is 8 rad. –s
___
​  ​
(b) v = v0 ​e​R ​after it has moved a distance s.
(c) Rate of change of speed of the particle at time
t = 2 s is 3 ms–2. (c) v = v0e–sR after it has moved a distance s.
(d) At time t = 2 s the angular acceleration of the (d) None of these
particle suddenly becomes zero. The accelera-
7. Consider a merry-go-round. Figure (i) shows its
tion of the particle immediately after this event
angular speed (w) as a function of time t. In this
is 54 ms–2.
graph a positive value of w indicates counter-clock
3. A particle moves clockwise in a circle of radius 1m wise rotation. The scalar angular acceleration (a) is
in an xy plane with centre at (1, 0) m. It starts from defined as the rate of change of the angular speed
rest at the origin at time t = 0. Its speed increases at with time.
p
()
the constant rate of ​ __
​   ​  ​ ms–2.
2
(a) It takes 2 s for the particle to travel halfway
(i)
around the circle.
(b) It takes more than 1s for the particle to travel
first quarter of the circle.

7.23
 (b) Rate of __ change of speed is never greater
÷
​___
3 ​
than ​   ​ g.
(ii) 2
(c) Radius of curvature of the path first decreases
and then increases.
(d) Curvature of the path first decreases and then
increases.
9. The figure below illustrates a stretch of a horizontal
(iii) road. The markers (++) indicate distance along the
road separated by 10 m. At ‘A’ a car enters the stretch
of the road. It accelerates uniformly upto point C and
Which of the followings are correct? then continues moving at a constant speed. The dots
(a) Between t = 0 and t = 10 s, the merry-go-round show the position of the car at one second intervals.
completes nearly 2 revolutions. Using the coordinate system shown, select the correct
choices.
(b) Between t = 30 s to t = 40 s, the merry-go-round
rotates clockwise and slows down.
(c) Graph given in the figure (iii) best represents
the merry-go-round’s scalar angular acceleration
between t = 0 and t = 20 s.
(d) Graph given in the figure (ii) best represents
the merry-go-round’s scalar angular acceleration
between t = 0 and t = 20 s.
8. A projectile is projected from the ground making (a) The speed of the car at point B is 30 ms–1.
an angle of 60° with the horizontal. Which of the (b) The acceleration of the car at point D is zero.
followings are correct? (c) The speed of the car at point E is 50 ms–1.
(a) Component of acceleration normal to the path (d) The acceleration of the car at point E is 50
is never less than g/2. ms–2

7.24
Worksheet 3
1. A small object is rotating in a circle of radius 0.5 m 9. A stone is projected from a flat ground. Its initial
making 1200 rpm. It begins to retard at a constant velocity makes an angle of 53° with the ground and
rate of 5p rad s–2. the smallest radius of curvature of its path is 90 m.
Find the number of revolutions completed by it from Find the radius of curvature of its path at time t = 1 s
the moment retardation begins till it stops. after projection.
2. A particle is moving uniformly in a circle of radius 10. A particle is moving in a circle of radius R and its
r = 0.6 m and has an acceleration equal to 5 times speed is u. Its speed begins to increase at a constant
the acceleration due to gravity. Find the time period rate. By the time it rotates through 90°, magnitude
and frequency of rotation [g = 9.8 ms–2]. of change in its velocity vector is 2u. At this instant
3. A particle is moving in a circle of radius R with a find
constant angular speed w. Find the magnitude of its (i) Its radial acceleration.
displacement in time t. (ii) Angle between acceleration and velocity.
4. Speed of an object undergoing uniform circular 11. Two particles describe the same circle of radius R, in
motion is 4 ms–1. Magnitude of change in veloc- the same direction with speed v. The particles have
ity during an interval of 0.5 s is 4 ms–1. Find the some separation between them. Find their relative
minimum possible centripetal acceleration of the angular speed.

[ 25
object. ​ Take p = ___ ]
​   ​  ​.
8
5. A particle is set to move on a circular track of radius
1 m. It starts moving and its a (ms–2)
tangential acceleration changes
with time as shown in the fig-
ure. Find the time after which
the acceleration of the particle
makes an angle of 30° with its 60°
t (s)
12. A car moves around a road which is part of a circle.
O
radial component. Speed of the car is constant at 72 kmph. Tangent at
two points A and B on the road make an angle of
6. A particle moves in an xy plane and its velocity
45° between them. The arc length AB is 100 m. Find
changes with time as
​_› the acceleration of the car.
​v ​ = v0 + at
Find the magnitude of its tangential, normal and total
__
÷
​ 3 ​ v0
_____
acceleration at time t = ​  a ​.

7. A particle moves in a circle of radius R with a con-

stant speed v. Find the magnitude of its average
pR
acceleration during a time interval D t = ___
​   ​.
2v
8. A particle is moving in a circular path of radius 0.2 m
with an angular velocity w = 20 t2 rad s–1, where t
13. A body rotates in a circle so that its angular velocity
is time in second.
depends on the rotation angle (q) as w = w0 – kq,
(i) Find its acceleration at t = 0.5 s. where w0 and k are positive constants. At time t = 0,
(ii) Find total number of revolutions that it completes q = 0. Find the time dependence of angular displace-
in 5 s. ment q.

7.25
Answers Sheet
Your Turn

1. 12 : 1 2. 12.6 ms–1 3. (i) 4 rad s–1 (ii) 2.5 rad s–1

4. 13.37 5. 837.3 kmh–1 6. 2.4 ms–1 7. 251.2 ms–1
8
8. ​ __ ​ rad. 9. yes 10. 118.3 ms–2 11. 12 rad s–2, 4 rad s–1
3
12. 38.7 ms–1 13. 100 m 14. a dq 15. (0, 0)
16. C, B 17. 6.28 rad s–2 18. 1/3 19. 0.8 ms–2
20. (i) a = – 5 rad s (ii) 1600 ms–2 (iii) a
–2
1600 ms–2 (iv) 39.8 21. 50 rad s–1
20__ 20
22. (i) 5/2 m (ii) ​ ____  ​ m 23. ​ ___ ​ ms–2 24. E
3​÷3 ​ 3
9
25. (i) ___ ​   ​ rad s–1 (ii) 1 rad s–1
25

Worksheet 1
1. (c) 2. (d) 3. (a) 4. (a) 5. (b) 6. (b) 7. (a) 8. (b) 9. (a)
10. (b) 11. (a) 12. (b) 13. (c) 14. (d) 15. (d) 16. (b) 17. (b) 18. (d)
19. (d) 20. (a) 21. (c) 22. (b) 23. (a)

Worksheet 2
1. (a,c,d) 2. (a,b,c,d) 3. (a,b,c,d) 4. (a,b) 5. (a,c) 6. (a,b) 7. (a,b,d) 8. (a,b,c) 9. (a,b,c,d)

Worksheet 3
1. 80 2. 0.69 s, 1.44 Hz ( )
wt
3. 2a sin ​ ​ ___ ​  ​
2
4. 8.33 ms–2
__ __
÷
​ 3 ​a __
a 2​÷2 ​ v2
5. 22/3
s 6. ​ ____
 ​, ​   ​, a 7. ​ ______​ 8. (i) 6.4 ms–2 (ii) 132.7 rev
2 2 pR

( )
__ 3u2 3p v
9. 180 ​÷2 ​ m 10. (i) ___
​  ​ (ii) tan–1 ​ ___​   ​  ​ 11. ​ __​
R 2 R
w0
12. 3.14 ms–2 13. q = ___
​  ​ (​ 1 – e– kt )​
k

7.26