General Rotation of a Rigid Body
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Solve problems in two-dimensional rigid-body dynamics, regardless of their kinematic characteristics, by equating the sum of the forces acting on the rigid body to the vectors ma and Ia. To effect this solution, construct appropriate free-body diagrams.
For rigid body rotation \(\theta\) \[\omega = \dfrac{d\theta}{dt}\] \[\alpha = \dfrac{d\omega}{dt}\] \[\alpha d\theta = \omega d\omega\]