Check out an example of a NON-constant angular acceleration problem, where a bar starting in static equilibrium (up = down, cw = ccw) goes into non-equilibrium and accelerates. You can see how torque = I*(alpha) gives us the angular acceleration of the bar at any given angle it has rotated through, and also how to use rotational energy and energy conservation to determine the angular speed at any given angle.

One thing to keep in mind as far as linear acceleration and linear speed is that each point of the bar has different values for these quantities, as determined by a = R*alpha and v = R*omega. Check it out...

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