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Beginning Math and Physics for Game Programmers by Wendy Stahler

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Chapter 14, ”Rotational Motion”

Angular Displacement

θ = s/r

where s = arc length and r = radius.

Average Angular Velocity

where ω = angular displacement and t = time.

Average Angular Acceleration

where ω = angular displacement and t = time.

Tangential Velocity

vt = ωr

where ω = instantaneous angular velocity and r = radius.

Tangential Acceleration

at = αr

where α = instantaneous angular acceleration and r = radius.

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