The rate of change of angular displacement(θ) of a body is known as angular velocity(ω).
ω=dθdt
Consider a rigid body moving with uniform velocity v along with the circumference of a circle of radius r. Assume body covers a linear distance △x in small interval of time △t, making an angle △θ at the center.
Now, length of the arc = radius X angle
△x=r×△θ
Divide by △t and take limits △t→0 (small time interval)