Beginning Math and Physics for Game Programmers

Chapter 14, "Rotational Motion"

Angular Displacement

q = s / r

where s = arc length and r = radius.

Average Angular Velocity

where w = angular displacement and t = time.

Average Angular Acceleration

where w = angular displacement and t = time.

Tangential Velocity

v _t = w r

where w = instantaneous angular velocity and r = radius.

Tangential Acceleration

a _t = a r

where a = instantaneous angular acceleration and r = radius.