Rotational dynamics is a branch of physics that deals with the motion of rigid bodies around a
fixed axis or point. It's essentially the rotational equivalent of linear dynamics, where forces
cause linear motion. Here's a breakdown of key concepts:
1. Angular Displacement (θ)
Definition: The angle through which a body rotates.
Units: Radians (rad) is the standard SI unit, though degrees and revolutions are also
used.
Vector Nature: Can be represented as a vector pointing along the axis of rotation
using the right-hand rule.
2. Angular Velocity (ω)
Definition: The rate of change of angular displacement.
Formula: ω=dtdθ
Units: Radians per second (rad/s).
Vector Nature: Points in the same direction as angular displacement.
3. Angular Acceleration (α)
Definition: The rate of change of angular velocity.
Formula: α=dtdω=dt2d2θ
Units: Radians per second squared (rad/s$^2$).
Vector Nature: Points in the same direction as angular velocity if speeding up,
opposite if slowing down.
4. Moment of Inertia (I)
Definition: A measure of an object's resistance to changes in its rotational motion. It's
the rotational analogue of mass.
Formula (for a point mass): I=mr2, where m is mass and r is the perpendicular
distance from the axis of rotation.
Formula (for a system of particles): I=∑miri2
Formula (for a continuous body): I=∫r2dm
Units: Kilogram meter squared (kg·m$^2$).
Key Point: Moment of inertia depends on both the mass of the object and how that
mass is distributed relative to the axis of rotation. The farther the mass is from the
axis, the greater the moment of inertia.
5. Torque (τ)
Definition: The rotational equivalent of force. It's the twisting action that tends to
cause rotation.
Formula: τ=rFsinθ=r⊥F, where r is the distance from the axis to the point where
force is applied, F is the force, and θ is the angle between r and F. r⊥ is the
perpendicular distance from the axis of rotation to the line of action of the force (lever
arm).
Vector Formula: τ=r×F
Units: Newton meter (N·m).
Net Torque and Angular Acceleration: Στ=Iα (Newton's Second Law for Rotation).
This is a fundamental equation in rotational dynamics.
6. Rotational Kinetic Energy (KErot)
Definition: The kinetic energy an object possesses due to its rotation.
Formula: KErot=21Iω2
Units: Joules (J).
7. Angular Momentum (L)
Definition: The rotational equivalent of linear momentum. It's a measure of the
"quantity of rotation" an object has.
Formula (for a rigid body): L=Iω
Formula (for a point mass): L=rpsinθ=rmvsinθ (where p is linear momentum, m is
mass, v is linear velocity).
Vector Formula: L=r×p
Units: Kilogram meter squared per second (kg·m$^2$/s) or Joule-second (J·s).
8. Conservation of Angular Momentum
Principle: In the absence of external torques, the total angular momentum of a system
remains constant.
Formula: If Στext=0, then Linitial=Lfinal or I1ω1=I2ω2.
Examples: A figure skater pulling in their arms to spin faster, planets orbiting the
sun.
9. Rolling Motion
Definition: A combination of translational (linear) motion and rotational motion.
Condition for Pure Rolling (no slipping): v=Rω, where v is the linear speed of the
center of mass and R is the radius of the rolling object.
Total Kinetic Energy: KEtotal=KEtranslational+KErotational=21mv2+21Iω2.
10. Analogies between Linear and Rotational Motion
Understanding these analogies can greatly help in grasping rotational dynamics:
Linear Quantity Rotational Quantity
Displacement (x) Angular Displacement (θ)
Velocity (v) Angular Velocity (ω)
Acceleration (a) Angular Acceleration (α)
Mass (m) Moment of Inertia (I)
Force (F) Torque (τ)
Linear Momentum (p) Angular Momentum (L)
F=ma τ=Iα
Linear Quantity Rotational Quantity
KE=21mv2 KE=21Iω2
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