The equations of translational kinematics can easily be extended to planar rotational kinematics for constant angular acceleration with simple variable exchanges: ω ω f = ω ω i + α α t θ θ f − − θ θ i = ω ω i t + 1 2 α α t 2 θ θ f − − θ θ i = 1 2 ( ω ω f + ω ω i ) t ω ω f 2 = ω ω i 2 + 2 α α ( θ θ f − − θ θ i ) .