**Kinematics**

In the following rotational definitions, the angle can be any angle about the specified axis of rotation. It is customary to use *θ*, but this does not have to be the polar angle used in polar coordinate systems. The unit axial vector

defines the axis of rotation, = unit vector in direction of **r**, = unit vector tangential to the angle.

Translation | Rotation | |
---|---|---|

Velocity | Average:
Instantaneous: |
Angular velocity
Rotating rigid body: |

Acceleration | Average:
Instantaneous: |
Angular acceleration
Rotating rigid body: |

Jerk | Average:
Instantaneous: |
Angular jerk
Rotating rigid body: |

Read more about this topic: Linear-rotational Analogs