Linear & Angular Motion

(part 2)
Objectives: Learn the relationship between linear and angular velocity for a body in rotation Learn to compute the tangental and radial acceleration of a body in rotation Learn how to analyze general motion Become familiar with methods for measuring kinematic quantities

Linear & Angular Velocity

The instantaneous linear velocity (v) of a point on a rotating body is: In a direction tangental to the path of motion Has a signed magnitude (v) of:

v=r
where: r = radius of rotation = angular velocity in radian/s !

axis of rotation

Finding the Tangental Direction

Instantaneous linear velocity directed 90 from the line segment from the axis of rotation to the point

+90 ( 90)

counterclockwise ( and v positive)

( and v negative)

clockwise

Example Problem #1
A quarterback starts to throw with his arm angled 170 with respect to the forward (+x) direction. He accelerates his arm forward (clockwise) at 3000/s2 He releases the football when his arm is at 120 His arm is 70 cm long. What is the linear velocity of his hand at the instant he releases the football?

Radial & Tangental Velocity Changes

The linear velocity of a rotating object changes: along the path of motion (tangental) perpendicular to the path of motion (radial) Thus, it must also accelerate in the tangental & radial directions

v2 vradial v2 vtangental v1

2 1

Radial & Tangental Acceleration

The acceleration of a body in angular motion can be resolved into two components: Tangental: along the path of atangental motion Radial: a perpendicular to the path of aradial motion

a = atangental + aradial

Tangental Acceleration
Component of acceleration directed along a tangent to the path of motion Represents a change in linear speed

at =

v2 v1 t2 t1

v2 at r2 v1

If r is constant:

at =

r 2 r 1 t2 t1 in radian/s2 !

2 1

at = r

r1

Radial Acceleration
Component of acceleration directed towards the center of curvature Represents a change in direction

ar =

v2 r

If r is constant:

ar

r ar = r ar = r 2

r in radian/s !

Tangental & Radial Directions

Tangental acceleration directed 90 from the line segment from the axis of rotation to the point Radial acceleration always directed inward

at ar

+90

ar
clockwise

( 90)

at

counterclockwise ( and a t positive)

( and a t negative)

Release of a Rotating Object

At the instant that radial acceleration is removed, v2 with ar an object becomes projected in the tangental direction

v2 without ar

v1

Example Problem #2
In problem #1, what is the average acceleration of the hand-and-ball along the path of motion between the start of the throw and the release of the ball? At the instant before the football leaves the hand, what are its linear velocity and acceleration? At the instant after the football leaves the hand, what are its linear velocity and acceleration? If we know that the ball is released from a height of 2.1 m, can we determine how far downfield it can travel?

Example Problem #3
Two runners are racing the 200 m. Runner #1 is in lane 1, Runner #2 is in lane 8. The inside radius of the track is 36.8 m. Each lane is 1.1 m wide. If both runners try to run the curve at 9 m/s, how much will each runner need to accelerate in the radial direction?

Relative Linear Velocity

Apparent velocity of a 2 nd point to an observer at a 1st moving point Compute absolute velocity of 2 nd point by adding velocities: v2 = v1 + v(2 relative to 1)
object 2
vy (m/s)

v2 v(2 relative to 1) v1
object 1
vx (m/s)

Relative Angular Velocity

Angular velocity of a 2 nd line segment relative to a 1st line segment Compute absolute angular velocity of 2 nd segment by adding velocities: 2 = 1 + (2 relative to 1)

2 1

(2 relative to 1)

Rotation About a Moving Axis

When a point is rotating relative to a moving axis of rotation, the absolute velocity of the point is the vector sum of: the points velocity relative to the axis, and the velocity of the axis vaxis v2 = vaxis + vt vt = r v2
point 2

axis of rotation

r vaxis

Example Problem #4
A soccer player kicks a ball 3 different ways: 1) stands still and contacts the ball with the lower limb vertical and swinging forward at 300/s 2) same as (1), except he runs forward at 3 m/s 3) he stands still and contacts the ball with the hip flexed 10 and flexing at 300/s and the knee flexed 17.5 and extending at 100/s The length of his thigh and leg are each 45 cm What is the linear velocity of the ankle at the time of ball contact in each case?

Tools for Measuring Kinematics

Cinematograpy & Videography Motion Capture System
measures position can derive all linear & angular quantities

Goniometer or Electrogoniometer
measures angular position can derive angular velocity & acceleration

Timers (Stopwatch or Electronic)

measures timing can derive velocity

Accelerometer
measures linear acceleration can derive linear velocity and displacement