PHYSICS FOR ENGINEERS

MODULE :CIRCULAR MOTION

INTRODUCTION:

We shall begin by describing the kinematics of circular motion, the position, velocity,
and acceleration, as a special case of two-dimensional motion. We will see that unlike
linear motion, where velocity and acceleration are directed along the line of motion, in
circular motion the direction of velocity is always tangent to the circle. This means that
as the object moves in a circle, the direction of the velocity is always changing. When
we examine this motion, we shall see that the direction of the change of the velocity is
towards the center of the circle. This means that there is a non-zero component of the
acceleration directed radially inward, which is called the centripetal acceleration. If our
object is increasing its speed or slowing down, there is also a non-zero tangential
acceleration in the direction of motion. But when the object is moving at a constant
speed in a circle then only the centripetal acceleration is non-zero.

In 1666, twenty years before Newton published his Principia, he realized that the moon
is always “falling” towards the center of the earth; otherwise, by the First Law, it would
continue in some linear trajectory rather than follow a circular orbit. Therefore there
must be a centripetal force, a radial force pointing inward, producing this centripetal
acceleration.

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

• Solve for the centripetal acceleration of an object moving on a circular path.

• Use the equations of circular motion to find the position, velocity, and acceleration of a particle
executing circular motion.
• Explain the differences between centripetal acceleration and tangential acceleration resulting from
nonuniform circular motion.
• Evaluate centripetal and tangential acceleration in nonuniform circular motion, and find the total
acceleration vector.

DISCUSSION PROPER:
Rotational motion or we can say circular motion can be analyzed in the same
way of linear motion. In this unit we will examine the motion of the objects
having circular motion. For example, we will find the velocity, acceleration and
other concepts related to the circular motion in this section. Uniform circular
motion is one of the example of this subject. In uniform circular motion speed
of the object is always constant and direction is changing. Thus, velocity of
the object is changing and as a result object has acceleration. Some
concepts will be covered in this units; rotational speed (angular speed),
tangential speed (linear speed), frequency, period, rotational inertia of the
objects, torque, angular momentum and its conservation.
Circular motion is very similar to linear motion in many ways.
Linear

Quantity unit

Displacement (x) M

Velocity (v) m/s

Acceleration (a) m/s/s

Mass (m) Kg

Force (F) Kg * m/s or N

Angular

Quantity unit

Angular displacement Rad

(ϴ)

Angular velocity (ω) Rad/sec

Angular acceleration Rad/sec/sec

(α)

Moment of inertia (ɪ) Kg * m*m

Torque (t) N*m

Linear Angular
v = 0.5(vo + vf ) ϖ =0.5(ώo + ώf)
s = vt θ = ϖt
vf = vo + at ώf = ώo + αt
v2f = v2i + 2as ώ2f = ώ2i + 2αθ
s = vot + 0.5at2 θ = ώot + 0.5αat2

Linear Speed (Tangential Speed):

Linear speed and tangential speed gives the same meaning for circular motion. In one dimension motion
we define speed as the distance taken in a unit of time. In this case we use again same definition.
However, in this case the direction of motion is always tangent to the path of the object. Thus, it can
also be called as tangential speed, distance taken in a given time. Look at the given picture and try to
sequence the velocities of the points larger to smaller.
In a given period of time all points on this
rotating object have same revolutions. In other
words, if A completes one revolution, then B
and C also have one revolution in a same time.
The formula of the speed in linear motion is;
Speed=distance/time
As I said before, speed in circular motion is also
defined as the distance taken in a given time.
Thus, speeds of the points given in the picture
below are;
V =Distance/time If the object has one
complete revolution then distance traveled
becomes; 2πr which is the circumference of the
circle object.
VA=2πr/time
Period: Time passing for one revolution is
called period. The unit of period is second. T is
the representation of period.
The equation of tangential speed becomes;
VA=2πr/T
Frequency: Number of revolutions per one second. The unit of frequency is 1/second. We show
frequency with letter f.
The relation of f and T is;
f=1/T
Now; with the help of the information given above lets’ sequence the velocities of the points on given
picture.
Since the velocity or speed of the points on rotating object is linearly proportional to the radius r3>r2>r1;
V3>V2>V1
To sum up, we can say that tangential speed of the object is linearly proportional to the distance from
the center. Increase in the distance results in the increase in the amount of speed. As we move to the
center speed decreases, and at the center speed becomes zero. We use the same unit for tangential
speed as linear motion which is “m/s”.

Example A particle having mass m travels from point A to B in a

circular path having radius R in 4 seconds. Find the period of this
particle.
Particle travels one fourth of the circle in 4 seconds. Period is the time necessary

for one revolution. So,

T/4=4s

T=16s.

Example: If the particle having mass m travels from point A to B in 4 seconds find the

tangential velocity of that particle given in picture below. (π=3)

We first find the period of the motion. If

the particle travels half of the circle in 4

seconds;

T/2=4s

T=8s

v=2 π R/T

v=2.3.3m/8s=9/4 m/s tangential speed of the particle

Angular Velocity:
Look at the given picture. If the platform does one rotation then points A
and B also does one rotation. We define angular velocity as “change of the
angular displacement in a unit of time”. the unit of angular velocity is
revolution per unit time or radians per second. We show angular velocity
with the Greek letter “ω” omega.
Average Velocity= Circumference of the Circle/Time
Average Speed/Velocity=2πr/T where, T is the period of the system
and r is the radius of the revolution.
ω=2π/T=2πf where, f is frequency and T is the period
Unlike tangential velocity, angular velocity of all points on the platform doing circular motion are
equal to each other since the number of rotations per unit time are equal.
Example: If the stone does 6 rotations in 1 second find the angular velocity of it.

If the stone does four rotations in one second then its frequency becomes 6.
f=6s-1

T=1/f=1/6s

ω=2π/T=2.3/1/6s=36radian/s

Angular Acceleration:
Look at the given picture above. The speed of the system is constant and we show it with “v”. However,
as you can see direction of the speed changes as time passes and
always tangent to the circle. Change in the direction of velocity
means system has acceleration which is called angular
acceleration. Since the acceleration is;

a= (Vf-Vi)/t
Direction of the acceleration is same as the direction of change of velocities.
We should find the direction of the changes in the velocity by using vector
properties. Let’s show how we find the direction of acceleration. Picture
shows the change in the direction of velocity. AS you can see direction of
the resultant velocity vector is towards to the center of the circle. Because of
the direction of acceleration, we call it centripetal acceleration.
Mathematical representation of centripetal acceleration is;

4𝜋2 𝑟
acentripetal = 𝑇2
“-“sign in front of the formula shows the direction with respect to the R position vector.
We can rewrite centripetal acceleration in terms of angular velocity and tangential velocity.
𝒗𝟐
acentripetal = -ώ2r or acentripetal = 𝒓

Example: If the tangential speed of the object is 3m/s which is doing circular motion on a path of

radius 2m, find the centripetal acceleration of it.

4𝜋2 𝑟
acentripetal = 𝑇2

Or we can rewrite it as;

a=V²/r=(3m/s)²/2m=4,5m/s²

Centripetal Force:
So far we have talked about angular speed, tangential speed and
centripetal acceleration. As I mentioned in Newton’s Second Law
of motion, if there is a net force than our mass has acceleration.
In this case we find the acceleration first, so if there is
acceleration then we can say there must be also a net force
causing that acceleration. The direction of this net force is same
as the direction of acceleration which is towards to the center.
Look at the given picture that shows the directions of force and
acceleration of an object doing circular motion in vertical. Don’t
forget! Direction of acceleration and force is always same.

From the Newton’s Second Law of Motion;

F=m.a where; m is mass of the object, r is the radius of the circle, T is
Fc=-m4π²r/T² or the period, V is the tangential speed

Fc=mv²/r
Look at the given examples of centripetal force.

First picture shows the motion of a stone tied up with a string doing circular motion. T represents the
tension of the string towards to the center. In this case centripetal force is equal to the tension in the
rope. In second picture, a car has circular motion. Force exerted by the friction to the tiers of the car
makes it do circular motion. Only force towards to the center is friction force. Thus, in this case our
centripetal force becomes the friction force. We can increase the number of examples. For example,
electrical forces or gravitational force towards to the center can be centripetal force of that system.

Example: Two objects A and B do circular motion with constant tangential speeds. Object A has mass
2m and radius R and object B has mass 3m and radius 2R. If the centripetal forces of these objects are
the same find the ratio of the tangential speed of these objects.

𝒎𝒗𝟐 𝒎(𝟒𝝅𝟐 𝒓)
Fc = =
𝑹 𝑻𝟐
𝟐𝒎 𝟑𝒎
FcA = (vA )2 FcB = (vB )2
𝑹 𝟐𝑹

FcA = FcB
𝟐𝒎 𝟑𝒎
(vA )2 = (vB )2
𝑹 𝟐𝑹

2VA = √𝟑VB
Example: A car makes a turn on a curve of having radius 8m. If the car does not slide find the tangential
velocity of it. (Coefficient of friction between the road and the tiers of the car =0, 2 and g=10m/s²)

Ffriction = Nμ
Ffriction = 0.2mcar(g)
𝒗𝟐 𝒗𝟐
0.2mcar(g)= mcar ;Fc = mcar
𝑹 𝑹
𝒗𝟐
0.2(10)= since both sides of the equation has mass they cancel each other so, we
𝟖
v = 4m/s don’t need the value of it

Circular Motion on Inclined Planes

We examine this subject with

an example. Look at the given

picture and analyze the forces

shown on the picture.

𝐅𝐜 𝒗𝟐
Tanθ = ; Fc = mcar
𝐦𝐠 𝑹

V = √𝒈𝑹Tanθ
As you can see from the picture given above, we showed the forces acting on the car. For having safe
turn on the curve car must have the value given above which is the top limit. It can also have less speed
than given above. If we want to increase the speed of the turn we should increase the slope of the road.

Example: Car having mass 1500kg makes a turn on the road having radius 100m and slope 20º. What is
the maximum speed that car can have while turning for safe trip?

Maximum velocity that the car have for safe trip = V = √𝒈𝑹Tanθ

V = √𝟗. 𝟖𝟏(𝟏𝟎𝟎)𝒕𝒂𝒏𝟐𝟎𝒐

V = 18.90m/s

Centrifugal Force:
In daily life we feel a force on us while we are in a system doing circular motion. For instance, when a car
goes around a curve we feel that as if something pulls us outward to the center of that curve. In real, of
course there is no such a force exerting on us. In previous topic we explained the centripetal force and
gave some examples to it. Now, we use again same examples to clarify centrifugal force which means
“outward from the center”. Look at the given picture and explanations of centrifugal force;

A truck moving in a straight line carries a box. During linear motion box does not move and has the same
velocity of the truck. However, when the truck goes around a curve, box starts to move outward to the
center of the curve as if an unknown force pulls it. We also feel this force when in a bus or car while it is
doing circular motion. Is there a force pulling us outward from the center? The answer is of course NO!
Let me explain this complex situation with Newton’s Laws of Motion. We have said that for having
acceleration there must be an unbalanced net force on that system. Here, a friction force between the
road and the tiers of the truck becomes our unbalanced net force. It changes the direction of motion
and truck does circular motion. On the other hand, the friction between the box and the surface of the
truck is not enough to make it does also circular motion. Because of the Newton’s First Law of Motion
“Law of Inertia” box tends to move in a straight line. Thus, it slides on the truck and feels like something
pulls it outward from the center. This is only inertia of the box, in real there is no centrifugal force.

TORQUE
We define torque as the capability of rotating objects around a fixed axis. In other words, it is the
multiplication of force and the shortest distance between application point of force and the fixed axis.
From the definition, you can also infer that, torque is a vector quantity both having direction and
magnitude. However, since it is rotating around a fixed axis its direction can be clockwise or
counterclockwise. During the explanations and examples we give the direction “+” if it rotates clockwise
direction and “-” if it rotates counterclockwise direction. Torque is shown in physics with the symbol
“τ”. You can come across torque with other name “moment”. Now, we examine given pictures one by
one to understand torque in detail.

How can we find the shortest distance between

the applied force and fixed axis?
All you know that, shortest distance between two
points is the straight line connecting them. In this
situation distance connecting these two points is
the length of the object. Direction of the torque is
“+” because force rotates the object in clockwise
direction. (We ignore the weight of the object n
all situations given above.)

Thus, we can write the torque equation like;

Τ=Applied Force.Distance
In this picture, we have a different situation
where the object is fixed to the wall with an
angle to the horizontal. Direction of the torque
in this situation is “-” because force rotates the
object in counterclockwise direction. As we
said before we need shortest distance
between the force and turning point. Dashed
line in the picture shows this distance which
can be found by using trigonometry and final
equation of torque becomes;
Τ=Applied Force.Distance.sinΘ
Final situation shows that, if the extension of the
force is passing on the rotation axis then what
would be the torque?
I want to explain this situation by giving other
example. Think that you are opening a door. If
you push the door as in the case of given picture
above, the door does not move. However, if you
apply a force to the door like in the first and
second situations given above the door is
opened or closed. What I try to say is, if the force is applied to the turning point then it does not rotate
the object and there won’t be torque.

Example: If the given triangle plate is fixed from the point O and can rotate around this point, find the
total torque applied by the given forces.

We find the torque of the forces one by one and finally sum them up considering their directions.
T1 = F1(d1sinθ) T1 =5f(0) = 0
T2 = F2(d2sinθ) T2 = -4f(2d) = -8fd
T3 = F3(d3sinθ) T3 = 6f(4d) = 24fd
Ttotal =T1 + T2 + T3= 0+( -8fd )+ (24fd) = 16fd to the clockwise direction
Example: If the plate is fixed from the point O, find the net torque of the given forces.

T1 = F1(d1sinθ) T1 =3f(2d) = 6fd

T2 = F2(d2sinθ) T2 = 2f(3d) = 6fd
T3 = F3(d3sinθ) T3 = -5f(d) = -5fd
T4 = F4(d4sinθ) T4 = f(0) = 0
Total torque;
Ttotal =T1 + T2 + T3+ T4 = 6fd +6fd + (-5fd) + 0 = 7fd to the clockwise direction

Self – Assessment Questionnaire

1. Express the following in terms of the three angular measures;
a. 28o
b. 0.25rev/s
c. 2.18rad/s2
2. The wheel 3ft radius rolls freely to the right. At the given position, ώ = 3rad per sec.
and α = 5rad per sec. sq., both clockwise. Compute the velocity and acceleration of
the point point B which is 2ft from the center A of the wheel
3. A proton has a speed 5x106m/s and is moving in a circle in the xy plane of a radius r
= 0.175m.what is its position in the xy plane at time t= 2.0x10-7s? at t= 0, the position
of the proton is 0.175mî and its circles counter clockwise.sketch the trajectory.

SUMMARY:

Tangential Speed (Linear Speed):

Linear speed and tangential speed gives the same meaning for circular motion. It can be defined as
distance taken in a given time. If the object has one complete revolution then distance traveled
becomes; 2πr which is the circumference of the circle object.
VA=2πr/time
Period: Time passing for one revolution is called period. The unit of period is second. T is the
representation of period.
Frequency: Number of revolutions per one second. The unit of frequency is 1/second. We show
frequency with letter f.
The equation of tangential speed becomes;
VA=2πr/T =2πrf
Angular Speed:
We define angular velocity as “change of the angular displacement in a unit of time”. One total rotation
corresponds to 2π radians. Units of angular speed are revolution per unit time radians per second. We
show angular speed with the Greek letter “ω” omega. All points on the platform have same angular
velocity.
Average Speed=2π/T
ω=2π/T=2πf
Angular Acceleration:
As you can see, direction of the speed changes as time passes and
always tangent to the circle. Change in the direction of velocity
means system has acceleration which is called angular
acceleration. Because of the direction of acceleration, we call
it centripetal acceleration.

Mathematical representation of centripetal acceleration is;

“-“sign in front of the formula shows the direction with respect to the R position vector. We can rewrite
centripetal acceleration in terms of angular velocity and tangential velocity.

Centripetal Force: If there is acceleration then we can say there must be also a net force causing that
acceleration. The direction of this net force is same as the direction of acceleration which is towards to
the center. From the Newton’s Second Law of Motion;
F=m.a where; m is mass of the object, r is the radius of the circle, T is
Fc=-m4π²r/T² or the period, V is the tangential speed
Fc=mv²/r
Circular Motion on Inclined Planes
For having safe turn on the curve velocity of car must have the value given below which is the top limit.
 𝐅𝐜
Tanθ = ;
𝐦𝐠
𝒗𝟐
Fc = mcar
𝑹

V = √𝒈𝑹Tanθ
Centrifugal Force:
When a car goes around a curve we feel that as if something pulls us outward to the center of that
curve. In real, of course there is no such a force exerting on us. Because of the Newton’s First Law of
Motion “Law of Inertia”, we feel that something pulls us outward. This is only inertia of us, in real there
is no centrifugal force.
Torque
We define torque as the capability of rotating objects around a fixed axis. In other words, it is the
multiplication of force and the shortest distance between application point of force and the fixed axis.
From the definition, you can also infer that, torque is a vector quantity both having direction and
magnitude. . Torque is shown in physics with the symbol “τ”. You can come across torque with other
name “moment”. We calculate torque with following formula;
τ=Applied Force.Distance.sinӨ

Torque;
Τ=Applied Force.Distance.sinΘ

Τ=F.d.sinΘ

References
College Physics second edition.Giambattistaa,richardson
https://www.dawsoncollege.qc.ca/physics/wp-content/uploads/sites/118/Obj_Stds-EngPhys.pdf
https://openstax.org/books/university-physics-volume-1/pages/1-2-units-and-standards
https://www.physicstutorials.org/home/rotational-motion
ISUI__CvE __MODS___
Revision: 02
Effectivity: August 1, 2020