Angular Acceleration
Here we generalize circular motion to include the case where the angular speed can change. We define angular acceleration as: a = Dw/Dt .
[Recall arclength = s, and ?=s/r, so s=r?, vq=r?]
Since aq = Dvq/Dt = D(wr)/Dt = r(Dw/Dt) = ar.
We still have all the equations we had before, except aq is no longer zero but is instead ar.