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Linear Angular
Position m s deg. or rad. q
Velocity m/s v rad/s w
Acceleration m/s2
a rad/s2
a
Radians
q = 1 rad = 57.3 o
r r
q 360o = 2p rad
r
What is a radian?
– a unitless measure of
angles
1 radian is the angular distance – the SI unit for angular
covered when the arclength measurement
equals the radius
90 180 270 360
p
2 rad p rad 3p
2 rad 2p rad
1
4 rev
1
2 rev 3
4 rev 1 rev
Measuring Angles
Relative Angles Absolute Angles
(joint angles) The (segment angles)
angle between The angle
the longitudinal between a
axis of two segment and the
adjacent right horizontal
segments. of the distal end.
Should be measured Should be consistently
consistently on same side measured in the same
joint direction from a single
reference - either
straight fully extended horizontal or vertical
position is generally
defined as 0 degrees
Measuring Angles
The typical data that
Frame 1
we have to work with
in biomechanics are
(x1,y1)
the x and y locations
(x2,y2)
of the segment
Y
endpoints. These are
(x4,y4) digitized from video
(x5,y5) (x3,y3) or film.
(0,0)
X
Tools for Measuring Body Angles
goniometers
Leighton Flexometer
gravity based assessment of absolute angle
opp
q arctan
adj (x2,y2)
opp
opp = y2-y1 q
adj = x2-x1 (x1,y1) adj
Calculating Relative Angles
• Relative angles can be calculated in one of
two ways:
1) Law of Cosines (useful if you have the segment lengths)
2 2 2 (x3,y3)
c = a + b - 2ab(cosq)
a
a x 3 x 2 y3 y 2
2 2
(x2,y2) q c
b x 2 x1 y2 y1
2 2
b
(x1,y1)
Calculating Relative Angles
q3 = q1 + (180 - q2)
q1
q3
q2
CSB Gait Standards
Canadian
Society of
Biomechanics
Anatomical
qhip position is
qtrunk zero degrees.
qthigh
RIGHT qknee
sagittal
qleg view
qfoot qankle
HIP (4,10)
KNEE (6,4)
ANKLE (5,0)
Angle Example
(4,10)
qthigh
(6,4)
qleg
(5,0)
segment angles
Angle Example
(4,10)
qthigh
(6,4)
qleg
(5,0)
segment angles
Angle Example
(4,10)
qknee = qthigh – qleg
qthigh = 108° qknee = 32o
(6,4)
c= c f (6,4)
f bq
knee
(5,0)
CSB Rearfoot Gait Standards
q = qf - qi
Angular Distance vs. Displacement
Angular Distance
Angular Displacement
Angular Position
1,4
NOTE: starting 3
point is NOT 0
1,4
Computing Angular
2
Distance and Displacement
f q
1 to 2 165 +165
3
2 to 3 75 -75
3 to 4 90 -90
1 to 2 to 3 240 +90
1,4
1 to 2 to 3 to 4 330 0
Calculate:
Given: angular distance (f)
front somersault angular displacement (q)
overrotates 20 IN DEG,RAD, & REV
2 1
2.5
+20
Distance (f) Displacement (q)
Angular Velocity (w)
• Angular velocity is the rate of change of angular
position.
• It indicates how fast the angle is changing.
• Positive values indicate a counter clockwise
rotation while negative values indicate a
clockwise rotation.
• units: rad/s or degrees/s
q
w=
t
Angular Acceleration (a)
• Angular acceleration is the rate of change of
angular velocity.
• It indicates how fast the angular velocity is
changing.
• The sign of the acceleration vector is
independent of the direction of rotation.
• units: rad/s2 or degrees/s2
w
a=
t
Equations of Constantly
Accelerated Angular Motion
Eqn 1:
wf wi at
Eqn 2: q q w t 1 at 2
f i i 2
Eqn 3: w2 w2 2a(q q )
f i f i
Angular to Linear
r
A
consider an arm rotating
B
about the shoulder
qr
tangential
velocity
radial axis
ankle
• The direction of the velocity vector (v) is
perpendicular to the radial axis and in the direction
of the motion. This velocity is called the tangential
velocity.
example: r = 1m, w = 4 rad/sec, What is the
magnitude of v?
v = 4rad/s*1m = 4 m/s
Bowling example
vt = tangential velocity
w w = angular velocity
r r = radius
3) If you are not strong enough to handle the longer bat then
what happens to angular velocity? Contact velocity?
a to at (at = ar)
• Increasing angular speed ccw: positive a.
w is constant
Velocity (H)
0
-1
TDC TDC
By examining the 1
components of the
Velocity (V)
velocity it is clear
that there is 0
acceleration even
when the angular -1
velocity is constant. TDC TDC
a to ac (ac = w2r or ac = v2/r)
• Even if the velocity vector is not changing
magnitude, the direction of the vector is constantly
changing during angular motion.
ac ac
2 2
a a t ac at
at