Physics 106 Lecture 4

Work, Energy, Rolling,

SJ 7th Ed.: Chap 10.8 to 9, Chap 11.1

• Work and rotational kinetic energy

• Rolling
• Kinetic energy of rolling
• Examples of Second Law applied to rolling

Completed:
Rotational variables and angular kinematics (for constant α)
Dynamical variables: rotational inertia and torque
Newton’s Second Law for rotation and applications to systems of rigid bodies

Today:i
Generalize work and energy conservation to include rotation Δ W = Δ KE
‰ Objective:
Obj ti d simplicity
use power and i li it off conservation
ti laws
l
‰ Principal changes:
‰ A torque acting through an angular displacement does work
‰ Kinetic energy includes rotational terms
Rolling motion: rotation + mass center translation + a constraint

In the near future:

Vector representation of torques: G G G G G
‰ use to treat complex geometry,
torques with multiple directions, etc.
τ i = ri × Fi τ net = ∑ τi
all i

G G G G G G G
∑ li
A new conserved vector quantity called
angular momentum
l i = ri × pi p i = mi v i L tot =
all i
‰ based on linear momentum applied to rotation
G
G dL
A re-statement of the Second Law: τ net =
dt

1
Work/energy for linear motion…
Energy Conservation - Work-Kinetic Energy Theorem
ΔK ≡ K f − KiG = ΔW ...work done by external forces (including potentials)
G G
G
Work : dW ≡ F D ds ...integrate... ΔW =
1
∫
path
F D ds
Kinetic energy : K = mv 2 point mass only, no rotation
2

Energy Conservation - Mechanical Energy

ΔEmech ≡ ΔK + ΔU = ΔWnon-conservative only
ΔU ≡ Potential energy difference; e.g., gravity ΔU = mgΔh
Emech ≡ K + U Mechanical Energy
dW G ds
G G G
power ≡ = FD = FDv
dt dt

For rotating rigid bodies…add…

Kinetic energy associated with the rotation
rotation:
K = K cm + Krot ...so... ΔK = ΔK cm + ΔKrot
...where.. . ΔKrot = K f ,rot − K 0,rot = ∑ 1Iω 2f − ∑ 1Iω02
2 2
Torques can do rotational work even when zero work is done on the mass center:

dWrot = τdθ (torque x angular distance) ΔWrot = ∫ τdθ

limits

Work-KE Theorem is the same as before but KE and Work include rotation

Work done by a pure rotational motion

Apply force F to mass at point r, causing rotation-only about axis.
Displacement is only along θ (transverse) direction
G
ƒ Find the work done by force F applied to
the object at P as it rotates through an
infinitesimal distance dsds= r =dθrdθ
G G
dW ≡ F D ds as for translation
= F cos(90 - φ)ds
= F rsin(φ)dθ
ƒ Only the transverse component of
the force (along the displacement)
does work – the same component
p
that contributes to the torque:
τ = F rsin(φ)
ƒ The radial component of the force
∴ dW = τdθ does no work because it is
perpendicular to the displacement

2
Work-Kinetic Energy Theorem for pure rotation
As object rotates from θi to θf work is done by the torque.
Integrate dW = τdθ
θf θf
ΔW = ∫ dW = ∫ τdθ (= τΔθ if τ does not depend on θ)
θi θi

τ = Iα
Apply the Second Law
dω
dW = Iα dθ = I dθ = I ωdω
dt
ωf

ΔW = I ∫
ωi
ω dω I is constant for rigid bodies

∴ ΔW = I ω 2f − 2 I ωi2 = K f,rot − K i ,rot = ΔK rot

1 1
2

Instantaneous Power: Divide both sides of dW = τdθ by dt

dW dθ
P ≡ =τ = τω
dt dt

Example: The power output of a certain car is advertised to

be 200 hp at 6000 rpm. What is the corresponding torque?

Convert the power to Watts: 1 hp ≡ 746 Watts

⎛ 746 Watts ⎞
P = 200 hp = 200 hp ⎜⎜ ⎟⎟ = 1.49 x 10 5 Watts
⎝ 1 hp ⎠
Convert the angular velocity ω to rad/s:
⎛ 2π rad ⎞ ⎛ 1 min ⎞
ω = 6000 rev/min = 6000 rev/min ⎜ ⎟ ⎜ ⎟ = 628 rad/s
⎝ 1 rev ⎠ ⎝ 60 s ⎠
Apply P = τω and solve for the torque:

1 49 x 10 5 N.m/s
P 1.49 N m/s
τ = = = 237 N.m
ω 628 rad/s

3
 Example: An electric motor attached to a grindstone exerts a constant
torque of τ = 10 N.m. The moment of inertia of the grindstone is I = 2.0
kg.m2. The system starts from rest.
a) Find the kinetic energy after 8 seconds.
b) Find the work done by the motor during this time.
c) Find the average power delivered by the motor.

a) τ = Iα α = τ / I = 10.0 / 2.0 = 5.0 rad / s 2

ω f = ω0 + αt = 5.0x 8.0 = 40 rad / s Should equal work
1 1 ΔW done by motor
ΔK = K f = 2
I ω f2 = 2
x 2.0 x (40.0) 2
= 1600 J.
b) First, angle turned through:
1 1
Δθ = ω 0 t + αt 2 = x 5.0 x (8.0)2 = 160 rad
2 2
Definition of work, constant torque
θf
ΔW = ∫ τdθ = τΔθ = 10.0
10 0 x 160 = 1600 J.
J
θi
ΔW 1600 J.
c) Average power: Pav = = = 200 Watts.
Δt 8 s.
= 0 W. at t = 0
but instantaneous
power is not
constant:
P ≡ τω { = 200 W. at t = 4 s.
= 400 W. at t = 8 s.

Energy Conservation: for translation + rotation about mass center (cm)

ΔK tot ≡ ΔKrot + ΔK cm = ΔW ΔW includes both conservative and
non-conservative forces, treated as
OR external to system

ΔWnc includes only non-conservative

ΔEmech ≡ ΔK tot + ΔU = ΔWnc forces, ΔU contains the conservative
forces

Comparison: pure translation versus pure rotation

Pure Translation (Fixed Direction) Pure Rotation (Fixed Axis)

Position coordinate x Angular position θ

Velocity v = dx/dy Angular velocity ω = dθ/dt
Acceleration a = dv/dt Angular acceleration α = dω/dt

Mass m Rotational inertia I

Newton's second law Fnet = ma Newton's second law τnet = Iα

Work dW = F dx Work dW = τ dθ
Kinetic energy Kcm = (m/2)v2 Kinetic energy Krot = (I/2)ω2
Power (constant force) P = F.v Power (constant torque) P = τω
Work–KE theorem ΔW = ΔK Same, include Krot ΔW = ΔK

4
 A wheel rolling without slipping on a table

• The green line above is the path of the mass

center of a wheel.
ω
• The red curve shows the path (called a cycloid)
swept out by a point on the rim of the wheel.
wheel
• When there is no slipping, there are simple vcm
relationships between the translational
(mass center) and rotational motion.

s = Rθ v cm = ωR a cm = αR

Rolling without slipping

What does it mean for a wheel to roll rather than slide?
• “No slipping”
• contact point “P” is stationary, o/w it would be sliding
• friction at “P” is static friction fs ≤ μ sN
• distance covered s1 = arc swept out s2 as wheel rotates by Δθ
• Mass center moves along g while wheel rotates around an axle (axis,
( , cm))
• Friction at the point of contact “matches” the rotation rate to
the mass center speed, providing torque.

time t1 later time t2 Connection between constant

mass center velocity and the
ω
angular velocity of the wheel
P+ P • from the translational motion:
s1 = v com Δt = s 2
• from the rotation:
Δθ
r
s 2 = r Δθ = r ω Δt = s1
s2
• NO SLIPPING IMPLIES:
P+
v cm = rω = v tan g
s1=rΔθ

5
Rolling = pure rotation around CM + pure translation of CM

Combination motions Æ actual rolling motion

• the portion of the wheel at the bottom (at point P) is stationary
• the point at the top (at point T) is moving at speed 2vcom, (fastest)
a) Pure rotation b) Pure translation c) Rolling motion

Someone moving with As seen from the “lab” with

the CM of the wheel rotation
i turned d off,
ff all
ll total velocity for a point
sees tangential speed points on the wheel would G G G
move at speed vcom
vlab = v tan g + v com
vtang = ωr = vcom
for no slipping
at center : vlab = 0 + v com
at bottom : vlab = − v com + v com = 0
at top : vlab = v com + v com = 2v com

Rolling as pure rotation about contact point P

• Complementary views – a snapshot in time
• Contact point “P” is constantly changing

v tan g = 2ωPR
v A = ωP 2R cos(ϕ)

A v cm = ωPR
φ
R
ωP
φ

P v tan g = 0

•Stationary observer sees rotation about “P” – the instantaneous center of

rotation – with angular velocity wp

v cm = ωPR ωP = ωcm αp = α cm
Angular velocity and acceleration are the same about contact
point “P” or about CM.

6
Kinetic energy for rolling, using contact point P
Show that: Ktot = Krot + Kcm
The total kinetic energy of a rolling object is the sum of the
translational energy of its mass center of mass plus the rotational
kinetic energy about its center of mass

ƒ Stationary observer
ƒ Pure rotation about “P” (snapshot)
1 v cm = ωPr
K= Ip ω 2 R
2
ωP
ƒ Apply parallel axis theorem
IP = Icm + MR 2 ωR = v cm
P
rolling condition
1 1
∴K= I ω2 + 2
Mv cm
2 cm 2

KE of rotation KE of overall mass

about mass center motion as a
center axis particle with mass M

Example: Use energy conservation to find the speed of the

bowling ball as it rolls w/o slipping to the bottom of the ramp
ƒ Rotation accelerates if there is friction
between the sphere and the ramp
‰ Friction force produces the net torque
and angular acceleration.
‰ There is no mechanical energy change
because the contact point is always at
rest relative to the surface
surface, so no work is
done against friction

ƒ Apply conservation of mechanical energy

Emech = constant = Ki + Ui = K f + Uf
‰ Let Uf = 0 at the bottom of the plane
‰ Ki= 0 at the top (start from rest) ƒ Suppose ball is a solid sphere
‰ Ui = Mgh at the top 2
Icm = MR 2
‰ ω R = v 5
f f 1 ⎡2 5⎤ 2
1 1 1 ⎡⎢ Icm ⎤ + Mv f =
2 ⎢⎣ 5 5 ⎥⎦
Mgh
Kf = I ω2 + Mv 2f = 2
+ M⎥ v f
2 cm f 2 2⎢ 2 ⎥
⎣R ⎦
1/ 2
ƒ Apply energy conservation ⎛ 10 ⎞
∴ vf = ⎜ gh ⎟
1 ⎡⎢ Icm ⎤ ⎝ 7 ⎠
Kf = 2
+ M⎥ v f = Mgh
2⎢ 2 ⎥
⎣R ⎦

7
 Example: A wheel rolling without slipping
• pulled by constant horizontal force F applied at the CM to accelerate wheel
• friction force fs makes it roll: applies torque to wheel, causes angular acceleration
linear 2nd Law
motion of cm: ∑
Fx ,i = ma cm = F − fs Fy,i = 0 = ∑ N − mg

CCW = +
r
cm rotational 2nd Law
axis through cm: ∑ τcm,i = − fsr = Icmα cm
F
P
no slipping a ccm = − α ccmr = − αPr (also )
constraint
constraint:
I a
fs ∴ fs = cm 2cm
r
Icma cm Icmα cm
substitute: ma cm = - mrα cm = F − fs = F − =F+
r2 r

solve for Fr Same result by placing rotation axis at P:

α cm = − = αP IP is Icm+ mr2, -Fr is net torque
αcm: Icm + mr 2
a is CW

• F/m
F/ is
i the
th no-friction
f i ti acceleration
l ti
Fr 2 F⎡ ⎤
find acm: a cm = = ⎢
1
⎥ • If Icm=0, then acm = F/m
Icm + mr 2 m ⎣⎢ 1 + Icm / mr ⎦⎥ • For a hoop, Icm = mr2, a=F/2m
2

• For solid sphere, acm = 5F/7m

Icmα cm Icm • fs Æ 0 if Icm=0
find fs: fs = − = F • If F=0, α = 0, ω is constant, fs=0
r Icm + mr 2
• fs is to the left
Minimum μs for fs
fs ≤ μ smg ⇒ μ s,min =
no slipping: mg

Example: Thread unwinding from a spool

• pull thread with constant horizontal force F applied at the top
• no slipping friction force fs applies torque, causes mass center acceleration

F
linear 2nd Law
cm motion: ∑ Fx,i = macm = F − fs ∑ Fy,i = 0 = N − mg
cm
∑ τcm,i = - Fr − fsr = Icmαcm
r rotational 2nd Law
CCW = + axis through cm:
P no slipping a cm = − α cmr = − αPr (also
l )
constraint:
fs
ma cm = - mrα cm = F − fs ⎛ I ⎞
SUBSTITUTE: I α ADD Æ 2 F = − α cm ⎜ mr + cm ⎟
- cm cm = F + fs ⎝ r ⎠
r
Same result by placing rotation axis at P:
Solve − 2Fr
for αCM:
α cm = = αP IP is Icm+ mr2, -2Fr is net torque
Icm + mr 2 α is CW

Fi d
Find 2Fr 2 2F ⎡ 1 ⎤ • Result is twice the previous one
a cm = = ⎢ ⎥ • For a hoop, Icm = mr2, a=F/m
acm: Icm + mr m ⎣⎢ 1 + Icm / mr 2 ⎦⎥
2
• For solid sphere, acm = 10F/7m

Find fs: ma cm = - mrα cm = F − fs ⎛I ⎞

Icmα cm ADD Æ − 2fs = α cm ⎜ cm − mr ⎟
= −F − fs ⎝ r ⎠
r
• negative fs, acm to the right
⎡ mr 2 − I ⎤ • to the right when mr2>Icm
Minimum μs: f s = −F⎢ 2 cm ⎥ • For a hoop, Icm = mr2, fs=0
⎣⎢ mr + Icm ⎦⎥
fs
use fs ≤ μ smg ⇒ μ s,min = • For solid sphere, fs = -3F/7
mg • For cylinder, fs = -F/3

8
Example: Rolling on a ramp w/o slipping
• place rotation axis at mass center - ramp applies torque to the edge of rolling object
• friction force fs is up the ramp, o/w wheel slides. torque is CCW around axis

apply linear 2nd Law ∑ Fx = Ma x,cm = fs - Mgsinθ

to cm motion:
∑ Fy = Ma y,cm = N − Mg cos θ = 0
α, Icm
apply rotational 2nd
Law for axis at cm: ∑ τcm = Icmαcm = fsR
• all other forces have zero moment arm Æ zero torque
• acm is in –x direction for CCW (+) αcm
no slipping
a x ,cm = − α cmR = − αPR (also )
constraint:

Solve for mass center acceleration:

Fg= Mg Icmα cm Icma x ,cm
fs = fs = −
R R2

− g sin θ
Icm a x,cm =
fs = M(a x,cm + gsinθ) − a x,cm (M + ) = Mgsinθ I
R 2 (1 + cm2 )
MR

Same result using • General result for motion on ramp

point P – the τP,net + MgRsinθ • acm Æ g sinθ if we let Icm Æ zero
instantaneous α cm = = • acm is negative, so fs is positive (up)
rotation axis:
Ip Icm + MR 2

Cylinders Racing to the Bottom

‰ 4.1. Two hoops of the same mass roll down a plane inclined at an angle θ
with the horizontal. Each travels the same distance. The radius of hoop B is
twice the radius of hoop A. There is no slipping or sliding.
In what order do they reach the bottom?

A.
A A reaches
h ththe bottom
b tt first
fi t because
b it has
h the
th greater
t acceleration.
l ti
B. A reaches the bottom first because it has a smaller moment of inertia.
C. B reaches the bottom first because it experiences a larger torque.
D. B reaches the bottom first because it travels a larger distance in one rotation.
E. They both reach the bottom at the same time, because each has the same linear acceleration.

‰ 4.2. How does the answer change if both rolling objects are now solid
spheres?

‰ 4.3. How does the answer change if object A is a solid sphere

and B is a hoop, both with the same radius and the same mass?

− g sin θ
2 a x,cm =
Icm = MR 2 Icm = 5 MR 2 I
(1 + cm2 )
MR

9
Example: A wheel driven w/o slipping by a CW torque applied through it’s axle.
• Wheel under torque applies force G to the road
• fs is reaction force that acts on the wheel due to static friction
• No work is done by either force as point “P” has zero displacement
linear 2nd Law
cm motion:
∑ Fx,i = macm = fs
∑ τcm
rotational 2nd Law
r
cm acm
axis through cm: = Icmα cm = - τ 0 + fsr
CCW = +
a cm
P
no slipping
α cm = αP = −
constraint: r
G fs Note: if fs = 0 wheel slips (e. g. spins on ice)
then acm = 0 and α = - τ0 / I

SUBSTITUTE: Icmα cm = macmr − τ 0 = − mr 2 α cm − τ 0

Solve − τ0 Same torque around “cm” and “P”

α cm = since αcm = αp
for αCM: Icm + mr 2
Equals moment of inertia IP around “P”
FIND fs – friction force needed to let wheel accelerate under given torque:

τ0 1 fs is to the right, drives acm

fs = ma cm = If Icm = 0, fs = τ0/r
r 1 + Icm / mr 2
If Icm = mr2 (hoop), fs = τ0/2r
Minimum μs to keep fs a
fs ≤ μ smg ⇒ μ s ,min = = cm
from slipping: mg g

10