3- D Kinematics

Fixed-axis Rotation:

A rigid body is rotating about a fixed OO' in space. The angular velocity is represented by a vector along

the axis. If you view as shown above and observe that the body is rotating counterclockwise, then the vector will be directed towards you. If the rotation is clockwise, the vectors will be directed away from you. The magnitude of is equal to the angular speed of the rotation, i.e., the tangential speed of a point divided by its distance from the axis of rotation.