Angular Position 
= s / r 
Revolution/Radian/Degree Relation 
1 rev = 360° = 2
rad. 
Angular Displacement 
=
_{1} 
_{2} 
Angular Velocity and Speed 

Angular Acceleration 

Kinematic Equations for Constant Angular
Acceleration 
=
_{0} +
t 
=
(
_{0} +
) t 
=
_{0} t +
t^{2} 
=
t 
t^{2} 

 
Liner and Angular Variable Relationships 
s =
r 
a_{ r} =
v^{2}/ r =
^{2} r 
v =
r 

a_{ t} =
r 
 
Rotational Kinetic Energy and rotational
Inertia 
K =
I
^{2} 
I =
r^{2} dm 
I = m_{i}
r_{i}^{2} 
 
The ParallelAxis Theorem 
I = I_{cm} +
Mh^{2} 
Torque 
= r x F
(magnitude of
torque) 
Newton's Second Law in Angular Form 
= I

Work and rotational Kinetic Energy 
