Most problems in basics physics courses and in Andes deal with angular motion about a fixed axis.  In Andes this axis of rotation is always an axis perpendicular to the screen.  By convention, since the x-y plane has been assume to be the plane of the screen, using a right hand coordinate system, the positive z axis is out of the screen and the negative z axis is into the screen.  Using this convention, angular displacement q, angular velocity w and angular acceleration a will only have z components.

For the special case of constant angular acceleration from time T0 to time T1, the kinematics equations for angular motion are:

1.   w1_z = w0_z + a_z*t01

2.  q01_z = w0_z*t01 + 0.5*a_z*t01^2

3.   w1_z^2 = w0_z^2 + 2*a_z*q01_z

where q01_z  is the angular displacement from T0 to T1.  Here the z subscript denote a rotation about the z-axis and the component is positive for CCW( counter clock wise) rotations and negative for CW rotations.