Whenever a moving object turns, its velocity changes direction. Since acceleration is a measure of the rate of change of velocity, an object that turns is accelerating. This kind of acceleration, called centripetal or radial acceleration, is related to υ, the speed, and r, the radius of the curvature of the turn, by ac = υ2/r. This relationship was obtained in Section 4.4. There we saw that there were two kinds of acceleration. Tangential acceleration (I called this “speeding up or slowing down” acceleration) measures the rate of change of speed. Radial, or centripetal, acceleration (“turning” acceleration) measures the rate of change of velocity associated with changing direction. Radial acceleration is directed perpendicular to the velocity vector and points toward the center of the arc on which the object is moving. If an object turns left, it accelerates left. If it turns right, it accelerates right.
From Newton’s second law of motion we saw that in order for an object to accelerate, it must be subject to a net force. This is illustrated in Fig. 6-1. The amount of force needed to cause an object with speed υ to curve along an arc of radius r is thus
Fc=mac=mv2r
(6.1)
Observe that Fc is not a kind of force. Many different kinds of forces can be used to make an object turn. For example, gravity causes the Moon to curve and travel a circular path around the Earth. The tension in a rope causes a tether ball to travel in a circle. The normal force exerted by a banked curve on a highway causes a car to travel a circular path. The friction force between a car’s tire and the roadway causes the car to turn. When you draw a force diagram, do not draw in a force labeled Fc. Centripetal force is a way of using a force, not a kind of force.
An object does not have to travel in a complete circle to experience centripetal acceleration. However, frequently objects do travel around and around, as is the case with a spinning wheel or compact disk. Suppose that an object makes f rev/s. The frequency of revolution is f. One revolution per second is called 1 hertz (a dumb way of labeling something, but we’re stuck with it). Later we will extend this idea of frequency to anything that varies periodically, whether or not it moves in a circle. Thus the electricity in your house varies at 60 times per second, or 60 Hz. The AM radio station in my town broadcasts radio waves at a frequency of 1400 kHz. (The announcer always says, “KRPL at 1400 on your AM dial.” He means 1,400,000 variations per second in the radio wave electric field.)
In one revolution an object travels a distance 2 πr. If it makes f rev/s, the distance traveled in 1 s is 2 πrf. The distance traveled per second is the speed υ, so
v=2πrf
(6.2)
One revolution is 2 radians (rad). The number of radians swept out per second is called the angular frequency or angular velocity, in radians per second (both terms are used). This symbol ω that looks like a small w is a lowercase Greek omega. It is measured in radians per second. Thus,
ω=2πf
(6.3)
and
v=rω
(6.4)
In terms of ω the centripetal force can be written
Fc=mv2r=mrω2
(6.5)
When dealing with objects rotating at constant frequency, it is easiest to use Eq. 6.5. When an object is simply turning, such as a jet plane pulling out of a dive, use Eq. 6.1.