chapter 8 roational kinematicschapter 8 rotational kinematics.pptVIP

Chapter 8 Rotational kinematics Section 8-1 Rotational motion In general the three-dimensional description of a rigid body requires six coordinates: three to locate the center of mass, two angles (such as latitude and longitude) to orient the axis of rotation, and one angle to describe rotations about the axis. 8-2 The rotational variables Fig 8-4 shows a rod rotating about the z axis. Any point P on the rod will trace an arc of a circle. The angle is the angular position of the reference line AP with respect to the x axis. We choose the positive sense of the rotation to be counterclockwise(逆时针). (8-1) where the s is the arc which the point P moves, and r is the radius (AP). At time the angular position is , at is . The angular displacement of P is during . We define the average angular velocity as (8-2) The instantaneous angular velocity is (8-3) Is a vector quantity? If the angular velocity of P is not constant, then the average angular acceleration is defined as (8-4) The instantaneous angular acceleration is (8-5) 8-3 Rotational quantities as vectors Commutative addition law for any vectors: We conclude that and so finite angular displacements cannot be represented as vector quantities. If the angular displacement are made infinitesimal, the order of the rotations no longer affects the final outcome: that is Hence can be represented as vectors. Quantities defined in terms of infinitesimal angular displacements may also be vectors. For example, is a vector Its dir