Rotation
Prepared by: Engr. Rommel T. Valmoria
Enabling Outcomes
1. Discuss the motion of particles along circular paths around the axis
of rotation.
2. Apply the newton’s Second Law of Motion.
Definition and Characters
• Rotation – is the motion of a rigid body
in which the particles move in circular
paths around a fixed straight line called
axis of rotation.
• All the particles in a rotating body have
the same values of angular
displacement, angular velocity, and
angular acceleration.
• However, the linear values of
displacement, velocity and acceleration
in a rotating body are not the same;
• they vary directly with the distance of
the particles from the axis of rotation.
Kinematic Differential Equations of Rotation
The kinematic differential equations for rotation are tabulated below.
For comparison, similar equations for rectilinear motion are included.
𝑅𝑒𝑐𝑡𝑖𝑙𝑖𝑛𝑒𝑎𝑟 𝑀𝑜𝑡𝑖𝑜𝑛 𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛
𝑑𝜃
𝑑𝑠 𝜔=
𝑑𝑡
𝑣=
𝑑𝑡
𝑑𝜔 𝑑 2 𝜃
𝑑𝑠 𝑑 2 𝑠 𝛼= = 2
𝑑𝑡 𝑑𝑡
𝑎= = 2
𝑑𝑡 𝑑𝑡
𝜔 𝑑𝜔 = 𝛼 𝑑𝜃
𝑣 𝑑𝑣 = 𝑎 𝑑𝑠
𝑅𝑒𝑙𝑎𝑡𝑖𝑜𝑛𝑠 𝐴𝑚𝑜𝑛𝑔 𝐿𝑖𝑛𝑒𝑎𝑟 𝑎𝑛𝑑 𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑇𝑒𝑟𝑚𝑠
𝑠 = 𝑟𝜃
𝑣 = 𝑟𝜔
𝑎𝑡 = 𝑟𝛼
𝑎𝑛 = 𝑟𝜔2
Equations of Rotation with Constant Angular
Acceleration
𝑅𝑒𝑐𝑡𝑖𝑙𝑖𝑛𝑒𝑎𝑟 𝑀𝑜𝑡𝑖𝑜𝑛 𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛
𝑣 = 𝑣𝑜 + 𝑎𝑡 𝜔 = 𝜔𝑜 + 𝛼𝑡
𝑣 2 = 𝑣𝑜 2 + 2𝑎𝑠 𝜔2 = 𝜔𝑜 2 + 2𝛼𝜃
1 2 1 2
𝑠 = 𝑣𝑜 𝑡 + 𝑎𝑡 𝜃 = 𝜔𝑜 𝑡 + 𝛼𝑡
2 2
General Kinetic Equations of Rotation
Problems involving rigid body rotation are referred to For centroidal rotation, 𝑟ҧ = 0, and these equations
a set of reference axes, namely, N, T, and Z. The axis N reduce to
passes through the center of gravity and the center of
rotation; the T-axis passes through the center of
rotation normal to the N-axis; the Z-axis is the axis of ഥ = 𝐼𝛼
𝑀 ҧ
rotation.
The general kinetic equations of rotation are: Where the bar sign signifies that both M and I are
taken with respect to a centroidal axis of rotation.
𝑊 𝑊 2
𝑁 = 𝑎𝑛 = 𝑟𝜔
ҧ
𝑔 𝑔
𝑊 𝑊
𝑇 = 𝑎𝑡 = 𝑟𝛼
ҧ
𝑔 𝑔
𝑀𝑧 = 𝐼𝑧 𝛼
Center of Percussion
In Fig. 1, 𝑃 is an impulsive force causing angular acceleration 𝛼 of the bar. The force 𝑃 is
variable which satisfies the equation
𝑃𝑑 = 𝐼𝛼
𝑘2
The resultant tangential effective force 𝑚𝑟𝛼
ҧ acts at point 𝑄 distant from the point of
𝑟ҧ
support 𝑂.
Static equilibrium is attained by applying the reversed effective force 𝑚𝑟𝛼
ҧ at 𝑄. The
value of the tangential reaction 𝑅𝑥 may be obtained from the equation: σ 𝑀𝑄 = 0. If the
force 𝑃 is applied at 𝑄, 𝑅𝑥 = 0. The point 𝑄 at which the body may be struck without
producing a tangential reaction is called the center of percussion.
𝑀𝑜 = 𝐼𝑜 𝛼 𝐼 = 𝑚𝑘 2 Where:
𝑘 = radius of gyration
𝐼 = moment of inertia
ҧ ∙ 𝑞 = 𝑚𝑘 2 𝛼
𝑚𝑟𝛼 𝑚 = mass
𝑘2
𝑞=
𝑟ҧ
Solved Problems
1. A turbine is rotating at a constant speed of 𝑟𝑎𝑑
𝑟𝑎𝑑 𝑏 𝜔 = 80𝜋 ; 𝜔 = 0, 𝜃 = 300 𝑟𝑒𝑣. = 600𝜋 𝑟𝑎𝑑
2,400 rpm. At what constant rate, in 2 , must 𝑠
𝑠
its motion be retarded to bring it to rest (a) in
20 minutes? (b) in 300 revolutions? 2 2
𝜔2 − 𝜔𝑜 2 0 − 80𝜋 2
𝜔 = 𝜔𝑜 + 2𝛼𝜃; 𝛼= =
2𝜃 2 600𝜋
Solution:
𝟏𝟔𝝅 𝒓𝒂𝒅
𝑟𝑎𝑑 𝜶= 𝑨𝒏𝒔.
𝑎 𝜔𝑜 = 2,400 𝑟𝑝𝑚 = 80𝜋 𝟑 𝒔𝟐
𝑠
𝜔 = 0, 𝑡 = 20 𝑚𝑖𝑛. = 1,200 𝑠𝑒𝑐.
𝜔 − 𝜔𝑜 0 − 80𝜋
𝜔 = 𝜔𝑜 + 𝛼𝑡; 𝛼= =
𝑡 1,200
𝝅 𝒓𝒂𝒅
=− 𝑨𝒏𝒔.
𝟏𝟓 𝒔𝟐
2. The cord will be subjected to the maximum
tension when the stone is at the lowest
position shown in the figure. The forces acting
on it are its own weight, 45 N, the tension in
the cord, 70 N, and the centrifugal force
45𝑣 2 45
= 𝑟𝜔2 , since 𝑣 = 𝑟𝜔. Determine the
𝑔𝑟 𝑔
rotational speed, rpm.
Solution:
45
𝐹𝑣 = 0, 70 − 45 − 0.90 𝜔2 = 0
𝑔
𝜔2 = 6.049
𝒓𝒂𝒅
𝝎 = 𝟐. 𝟒𝟔 = 𝟐𝟑. 𝟒𝟗 𝒓𝒑𝒎 𝑨𝒏𝒔.
𝒔
3. A weight of 490 N is fastened to a cord which The relation between the linear acceleration of the
is wrapped around a solid cylinder of 0.5 m weight and the acceleration of the cylinder is
radius weighing 245 N. The cylinder rotates
about its horizontal axis. Determine the 𝑎 = 𝑟 ∙ 𝛼 = 0.50 ∙ 𝛼
acceleration and the tension in the cord; also
the total bearing reaction.
For the weight of 490 N the equation of linear
translation is
𝑊
𝐹𝑣 = ∙ 𝑎,
𝑔
490
490 − 𝑇 = ∙ 𝑎 = 50𝑎 = 50(0.50 ∙ 𝛼)
9.81
𝑇 = 490 − 25𝛼 → (1)
Solution:
The moment of inertia of the solid cylinder about its
center O is
1 𝑊 2 245 2
𝐼𝑂 = ∙ 𝑟 = 0.50 = 3.125 𝑁 ∙ 𝑚 ∙ 𝑠𝑒𝑐 2
2 𝑔 19.60
For the cylinder the equation of rotation is
𝑀 = 𝐼𝛼,
𝑇 0.5 = 3.125𝛼
𝑇 = 6.25𝛼 → (2)
Equating the values of T in Eqtn. (1) and (2), we get
490 − 25𝛼 = 6.25𝛼
𝑟𝑎𝑑
𝛼 = 15.68 2
𝑠
𝒎
𝑎 = 0.50 15.58 = 𝟕. 𝟖𝟒 𝟐 𝑨𝒏𝒔.
𝒔
𝑇 = 6.25 15.68 = 98 𝑁
𝐹𝑣 = 0,
𝑅 − 245 − 98 =0
𝑹 = 𝟑𝟒𝟑 𝑵 𝑨𝒏𝒔.
Problem Solving:
Write your answer in A4 bond paper. Show your solution. (30 points each)
Deadline of submission: March 26, 2024
1. If the weight is descending freely, determine the 2. Find the tension in the cord attached to a block A.
tension in the cord both before and after a brake Neglect the weight of the floating pulley supporting
force P = 100 lb is applied. Neglect the thickness of weight B.
brake.
3. A uniform slender rod, 3.0 m long and weighing 490 N,
rotates in a vertical plane about a horizontal axis 0.30
m from one end. In the horizontal position its angular
velocity is 3 rad/sec. Determine its angular acceleration
and the bearing reaction at A.
References:
• Singer, F.L. (1963). Engineering Mechanics, 2nd edition, Copyright
registered in the Philippines 1963 by Harper & Row Publishers, Inc.
• Arreola, M (1996). Solutions to problems in Engineering Mechanics.
Copyright 1996 and Published by Ken, Inc. ISBN 971-8558-27-6
