General Physics 1 Page 1 of 6

Rotational Equilibrium and Rotational Dynamics

IV. LESSON PROPER

LET’S BEGIN!

Based on the preliminary activities, what did you notice about it?
________________________________________________________
CONGRATULATIONS!
You may now proceed to the lesson.

4.1 Calculate the moment of inertia about a given axis

Moment of inertia is a measure of the resistance of a

body to angular acceleration about a given axis that is
equal to the sum of the products of each element of mass
in the body and the square of the element's distance from
Source https://www.physicsforums.com/threads/how- the axis. I = Σ miri2.
to-calculate -the-moment-of-inertia-of-a-bar-with-
two-masses-on-it.970646/

Sample problem
1. Find the moment of inertia of a rectangle with sides a and b with respect to an axis passing through the
side b. Consider a small strip of the rectangle of width dx. The distance of the
Y dx strip from the axis of rotation is equal to x. Therefore, it has the moment
of inertia: dI = x2 dm = x2 ρ b dx. Assuming the density is ρ=1, we can
b
write: dI = bx2dx. Integrating from x=0 to x=a yields:
x a a a
o a I = ∫ bx2 dx = b ∫ x2dx = bx3 ∣ = ba3.
0 0 3 0 3
2. A right uniform triangle with legs a and b and mass m is rotated about the leg b. Calculate the moment
of inertia of the triangle.
y The moment of inertia of the triangular lamina about the y−axis is given by
B the integral
a
a
A Iy = ∫ x2ρ (x) f(x) dx.
b x 0
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Rotational Equilibrium and Rotational Dynamics

The function f(x) is the hypotenuse AB of the triangle. We can easily derive its equation using the two-
point form:
x−xA = y− yA = x – a = y – 0 1–x =y
xB−xA yB−yA a b a
a
Assuming that the density ρ is constant, we have I = Iy = ρ ∫ x2 (b − b x) dx = ρ (ba3 − ba3) = ρba3.
0 a 3 4 12
Let’s now recall that the mass of the triangular lamina is m = ρ A = ρ a b .
2
Then the moment of inertia is expressed as I = ρ ba3 = ρ ab x a2 = m a2
12 2 6 6
4.2 Calculate magnitude and direction of torque
Torque is a measure of the force that can cause an object to rotate about an axis. Just as force is what
causes an object to accelerate in linear kinematics, torque is what causes an object to acquire angular
acceleration. Torque is a vector quantity. The direction of the torque vector depends on the direction of the
force on the axis.
How is torque calculated?
The magnitude of the torque vector τ for a torque produced by a
given force F is τ = F⋅ r sin(θ)

where r is the length of the moment arm and θ is the angle between
the force vector and the moment arm. In the case of the door shown
in Figure, the force is at right angles (90 degrees) to the moment
Source: arm, so the sine term becomes 1 and τ = F⋅r . The SI unit for torque
https://www.khanacademy.org/scienc
e/physics/torque-angular- is the Newton-meter. 1 Nm≃1.74 ft⋅lbs
momentum/torque-tutorial/a/torque

Sample problems
1. A force of 5.0 N is applied at the end of a lever that has a length of 2.0 meters. If the force is applied
directly perpendicular to the lever, as shown, what is the magnitude of the torque acting the lever?
Solution:
This sample is a simple matter of plugging the values into the equation:
Torque = F * l
Torque = 5.0 N * 2.0 m
Source: http://www.angelfire.com/nc3/
apphysics/solvedtorqueproblems.html Torque = 10 N*m

2. If the same force as in example 1 is applied at an angle of 30 degrees at the end of the 2.0 meter lever,
what will be the magnitude of the torque?
Solution:
First we must find the lever arm value using trig:
Sin300 = x / 2.0
Sin300 (2.0) = x 1.0 m = x = l
Now we plug the value into the torque formula:
Source: http://www.angelfire.com/nc3/
Torque = F * l Torque = 5.0 N*m
apphysics/solvedtorqueproblems.html Torque = 5.0 N * 1.0 m Torque = 5.0 N*m
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Rotational Equilibrium and Rotational Dynamics

4.3 Describe rotational quantities using vectors

By using vectors, we can define the angular quantities for rotation about an axis that can point in any
direction. Given an axis of rotation, the path of any particle rotating about that axis can be described by a
circle that lies in the plane perpendicular to that axis of rotation.

Rotational Quantities
Angular Displacement units of radians ΔΘ
Angular Rotation Rate units of radians/second:
ω = ΔΘ
Δt
Angular Acceleration units of radians/second2 :
α = Δω Source: http://hyperphysics.phy-
astr.gsu.edu/hbase/rotq.html Source:
https://courses.lumenlearning.com/boundl
Δt ess-physics/chapter/vector-nature-of-
rotational-kinematics/
Angular position, angular velocity, angular acceleration
Rotation Angle: All points on a CD travel in circular arcs. The pits along a line from
the center to the edge all move through the same angle Δ in a time Δt. Δθ = Δs/r
Angle θ and Arc Length s: The radius of a circle is rotated through an angle Δ.
The arc length Δs is described on the circumference.
Δθ = (2πr)/r = 2π. 2π rad = 1 revolution 1 rad = 360º/2π = 57.3º.

The unit of moment of inertia is kilogram-metre square. In the U.S. customary system, m is in slugs (1
slug = 32.2 pounds) and r in feet, with I expressed in terms of slug-foot square.
Rotational inertia is given the symbol I. For a single body such as the tennis ball of mass m, rotating at
radius r from the axis of rotation the rotational inertia is I = mr2 : I equals m times r squared and consequently
rotational inertia has SI units of kg⋅m2

4.4 Determine whether a system is in static equilibrium or not

Static equilibrium
An object is in static equilibrium if and only if: The sum of the forces on
it in each direction is zero. The sum of the torques on it in each direction
is zero.
An object in static equilibrium is one that has no acceleration in any
direction. While there might be motion, such motion is constant. Two
Source: https://courses.lumenlearning.com/ children on a seesaw: The system is in static equilibrium,
boundless-physics/chapter/conditions-for-
equilibrium/ showing no acceleration in any direction.

Dynamic equilibrium is the steady state of a reversible reaction where

the rate of the forward reaction is the same as the reaction rate in
the backward direction. Static equilibrium, also known as
mechanical equilibrium, means the reaction has stopped. In other words,
Source: https://www.alamy.com/stock-
photo/seesaw-children.html
the system is at rest.
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Rotational Equilibrium and Rotational Dynamics

4.5 Apply the rotational kinematic

We will find that translational kinematic quantities, such as displacement, velocity, and acceleration have
direct analogs in rotational motion.
Rotational Translational
Θ = ωt x = vt
ω = ω0 + αt v = vo + at (constant α, a)
Θ = ω0t + ½ αt 2 x = v0t + ½ at2 (constant α, a)
ω2 = ω02+ 2αθ v2 = vo2 + 2a (constant α, a)

In these equations, the subscript 0 denotes initial values (θ0, x0, and t0 are initial values), and the average
angular velocity ω and average velocity v are defined as follows: ω = ω0 + ω and v = v0+v
2 2
Sample problems
1. Large freight trains accelerate very slowly. Suppose one such train accelerates from rest, giving its 0.350-
m-radius wheels an angular acceleration of 0.250 rad/s2. After the wheels have made 200 revolutions
(assume no slippage): (a) How far has the train moved down the track? (b) What are the final angular velocity
of the wheels and the linear velocity of the train?
Solution:
(a) How far has the train moved down the track?
Solution for (a)
The distance x is very easily found from the relationship between distance and rotation angle:
θ = x / r solving this equation for x yields x = r θ
Before using this equation, we must convert the number of revolutions into radians, because we are
dealing with a relationship between linear and rotational quantities: = (200rev) 2 π rad / 1 rev = 1257 rad
Now we can substitute the known values into x=rθ to find the distance the train moved down the track:
x = r θ = (0.350 m) (1257 rad) = 440 m
(b) What are the final angular velocity of the wheels and the linear velocity of the train?
Solution for (b)
ω2 = ω02 + 2 α θ
ω = [0+2(0.250 rad/s2) (1257 rad)]1/2 = 25.1 rad/s.
We can find the linear velocity of the train, v, through its relationship to ω:
v = rω = (0.350 m) ( 25.1 rad/s ) = 8.77 m/s.

2. A person decides to use a microwave oven to reheat some lunch. In the process, a fly accidentally flies
into the microwave and lands on the outer edge of the rotating plate and remains there. If the plate has a
radius of 0.15 m and rotates at 6.0 rpm, calculate the total distance traveled by the fly during a 2.0-min
cooking period. (Ignore the start-up and slow-down times.)
Solution:
First, find the total number of revolutions θ, and then the linear distance x traveled. Θ = ω t
Θ = ω t = (6.0 rpm) (2.0 min) = 12 rev Θ = (12 rev) (2πrad / 1 rev) = 75.4 rad
 General Physics 1 Page 5 of 6
Rotational Equilibrium and Rotational Dynamics

x = r θ = (0.15 m) (75.4 rad) = 11 m

4.6 Determine angular momentum of different systems
Angular momentum is a measure of the momentum of an object around an axis.
Linear momentum (p) is defined as the mass (m) of an object multiplied by the velocity (v) of that object:
p = m*v.
Basic Facts on Angular Momentum
Angular momentum is a vector that is parallel to the angular velocity.
With a bit of a simplification, angular momentum (L) is defined as
the distance of the object from a rotation axis multiplied by the
linear momentum: L = r*p or L = mvr.

For one particle moving in a circular orbit, the angular momentum

is L = r x p → m r2 ω. For a continuous mass distribution,
L = ∫ dm r2 ω = Iω

If there is no net torque acting on a system, the system's angular momentum is conserved:
A net torque produces a change in angular momentum that is equal to the torque multiplied by the time
interval over which the torque is applied.
For an object in orbit, we know that the velocity can be written as v = 2*pi*R/Torb
For a rigid, spherical body, I = 0.4MR2, where M is the mass and R is the radius of the sphere.
The angular momentum of a particle of mass m with respect to a chosen origin is given by L = mvr sin θ
or more formally by the vector product L = r x p

Sample problems
1. Calculate the rotational angular momentum of the Earth.
Solution:
Lrot = 0.8*π * MR2 / Trot
Lrot = 0.8 * 3.14 * (5.98 x 1024 kg)(6.37 x 106m)2 / (8.64 x 104 s)
Lrot = 7.1 x 1033 kg m2 s-1
2: The orbital angular momentum of the Earth is
Lorb = MR2 * 2*π/Torb
Lorb = 2 * 3.14 *(5.98 x 1024 kg)(1.496 x 1011m)2/(3.15 x 107 s)
Lorb = 2.7 x 1040 kg m2 s-1
4.7 Apply the torque-angular momentum relation
An example of conservation of angular momentum is seen in an ice
skater executing a spin, as shown. The net torque on her is very
close to zero, because 1) there is relatively little friction between
her skates and the ice, and 2) the friction is exerted very close to
the pivot point.
Source:
https://courses.lumenlearning.com/bou An ice skater is spinning on the tip of her skate with her arms
ndless-physics/chapter/conservation-of-
angular-momentum/
extended. Her angular momentum is conserved because the net
torque on her is negligibly small.
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Rotational Equilibrium and Rotational Dynamics

In the next image, her rate of spin increases greatly when she pulls in her arms, decreasing her moment of
inertia. The work she does to pull in her arms results in an increase in rotational kinetic energy.

Both F and r are small, and so τ = r x F is negligibly small. ) Consequently, she can spin for quite some
time. She can also increase her rate of spin by pulling in her arms and legs. When she does this, the
rotational inertia decreases and the rotation rate increases in order to keep the angular momentum L = I
ω constant. (I: rotational inertia, ω: angular velocity).
Torque, also called moment of a force, in physics, the tendency of a force to rotate the body to which it is
applied. The torque, specified with regard to the axis of rotation, is equal to the magnitude of the component
of the force vector lying in the plane perpendicular to the axis, multiplied by the shortest distance between
the axis and the direction of the force component.
Two children are sitting on a seesaw that isn't moving. They are
balanced at the axis of rotation, which is the fulcrum in the case of a
seesaw. Both children are exerting a force down with their weight,
otherwise known as the force due to gravity. Child 1 is trying to rotate
the seesaw counterclockwise, and child 2 is trying to rotate it
clockwise.
4.8 Solve static equilibrium problems
Sample problem:
1. NASA planned to put a satellite into a circular orbit around Pluto for studies, but the situation got a little
out of hand and the satellite ended up with an elliptical orbit. At its nearest point to Pluto, 6 x 106 meters the
satellite zips along at 9,000 meters per second. The satellite’s farthest point from Pluto is 2.0 x 107 meters.
What is its speed at that point? (https://www.dummies.com/education/science/physics/how-to-calculate-angular-
momentum/)

Because the satellite is so small compared to the radius of its orbit at any location, you can consider the
satellite a point mass. Therefore, the moment of inertia, I, equals mr2. The magnitude of the angular velocity
equals v/r, so you can express the conservation of angular momentum in terms of the velocity like so:
I1 ω1 = I2 ω2
m1v1 = m2 v2
v2 = r1v1
r2
2. A boulder of mass 20 kg and radius 20 cm rolls down a hill 15 m high from rest. What is its angular
momentum when it is half way down the hill? (b) At the bottom?
Solution
mgh = ½ m (r ω)2 + 1225mr2ω2 ω = 51.2 rad/s
a) L = 16.4kg⋅m /s
2

b) ω = 72.5 rad/s L=mvr L = 23.2 kg⋅m2/s