An analytical expression for the kinetic inductance of the superconducting coplanar waveguide is given using the conformal mapping technique. This expression is shown to be in good agreement with experimental results obtained from the temperature dependence of the resonant frequency of the NbN coplanar waveguide resonators, especially in the case of a film thickness smaller than the magnetic penetration depth. It is also shown that the magnetic penetration depth of the superconducting thin films can be evaluated by this method.