CH 10
CH 10
CH 10
Angular
position:
s
q=
r
s = rq
Here, θ is in radians.
Note: 2π radians = 360° OR π radians = 180°
So, 1 radian = 360°/(2π) = 360°/(2 x 3.14) = 57.3°
10.1 Average and Instantaneous Angular
Speed
Change in angular position: Dq º q f - q i
Dq
Average Angular speed: wavg º
Dt
Instantaneous Angular speed:
X O
v w
df Dq dq
w º lim
w
v
If is w BE =
W raysor I Dt ® 0 Dt dt
VE VE 2AXsXi
Og OitWt Xp Xi Vt
Example 10.1:
Rotating Wheel
A wheel rotates with a constant
angular acceleration of 3.50 rad/s2.
(A) If the angular speed of the
wheel is 2.00 rad/s at ti = 0, through
what angular displacement does the
wheel rotate in 2.00 s?
3 5rats
Wi 2 rays dg Ditwit αt
Dg
Example 10.1:
Rotating Wheel
1 2
Using, Dq = q f - q i = wi t + a t
2
We get,
1
Dq = ( 2.00 rad/s )( 2.00 s ) + ( 3.50 rad/s ) ( 2.00 s )
2 2
2
= 11.0 rad = (11.0 rad )(180°/p rad ) = 630°
Example 10.1:
Rotating Wheel
(B) Through how many revolutions has the wheel
turned during this time interval?
æ 1 rev ö
Dq = 630° ç ÷ = 1.75 rev
è 360° ø
revolutions
Em Idea
Example 10.1:
Rotating Wheel
(C) What is the angular speed of the wheel at t = 2.00 s?
w f = wi + a t
= 2.00 rad/s+ ( 3.50 rad/s 2
) ( 2.00 s ) = 9.00 rad/s
10.3 Angular and Translational
Quantities
Relation between translational and rotational quantities:
s = rq
ds dq
We have, v= =r
dt dt
=> v = rw
10.3 Angular and Translational
Quantities
Relation between translational and rotational quantities:
dv d dw
Tangential
at = = ( rw ) = r
acceleration dt dt dt
=> at = ra
2
Centripetal v aera
acceleration ac = = rw 2
r
! ! !
Total acceleration a = at + a r
=> a = at + ar = r a + rr wω = r a + w
2 2 2 2 42 24 2 4
Quick Quiz 10.3 Part I
Ethan and Rebecca are riding on a merry-go-round.
Ethan rides on a horse at the outer rim of the circular
platform, twice as far from the center of the circular
platform as Rebecca, who rides on an inner horse.
When the merry-go-round is rotating at a constant
angular speed, what is Ethan’s angular speed?
(a) twice Rebecca’s 08
Wars DE
! = r x F = rF sinɸ
= Fd
where d= r sinɸ is the
perpendicular distance
of F from the point O.
10.4 Torque
• When two or more forces act on a rigid object:
• Each tends to produce rotation about axis through O
åt = t 1 + t 2 = R2T2 - R1T1
Example 10.3:
The Net Torque on a Cylinder
(B) Suppose T1 = 5.0 N, R1 = 1.0 m, T2 = 15 N, and
R2 = 0.50 m. What is the net torque about the rotation
axis, and which way does the cylinder rotate starting
from rest?
å Fr = mac
t t
å F = mat t
Now, åt = å F r = ( ma ) r
t t
=> åt = ( mra ) r = ( mr )a
2
=> "i = I ⍺
Notice the analogy with
Newton’s law of motion:
F=ma
è i ø
i
Moment of Inertia
• I = moment of inertia of object.
• Depends on masses of particles making up object and
their distances from rotation axis.
• SI units of I: kg · m2
I = å mi ri 2
æLö
åt ext = Mg ç ÷
è2ø
Now, ⍺a =
å t ext
=
Mg ( L /2 )
=
3g
2
I 1
3 ML 2L
g
a = lim =0
I ®¥
1 + ( I /mR 2
)
mg
T = lim = mg
I ®¥
1 + ( mR 2 /I )
10.6 Calculation of Moments of Inertia
For a system of discrete particles:
I = å ri Dmi ( system of discrete particles )
2
Continuous
For continuousrigid object: I = lim
rigidobject:
Dmi ® 0
å i i ò dm
r
i
2
Dm = r 2
m
But, density r = Þ dm = r dV
V
ò
Therefore, I = r r 2 dV for rigid object.
10.6 Calculation of Moments of Inertia
m
Volume mass r= (mass per unit volume)
density V
m
Surface mass s = = r t ( mass per unit area )
density A Where t is thickness (for a uniform sheet)
m
Linear mass l = = r A ( mass per unit length )
density L
Example 10.7:
Uniform Rigid Rod
Calculate the moment of inertia of a uniform thin rod of
length L and mass M about an axis perpendicular to the
rod (the y axis) and passing through its center of mass.
M
Mass of the element dx, dm = l dx = dx
L
2 M
L/2
Then, I y = ò r dm = ò
2
x dx
-L/2 L
M L/2 2
= ò
L -L/2
x dx
3 L/2
M éx ù 1
= ê ú = ML 2
L ë 3 û - L /2 12
Example 10.8:
Uniform Solid Cylinder
A uniform solid cylinder has a radius R, mass M, and
length L. Calculate its moment of inertia about its
central axis (the z axis in in the figure).
Mass of the element dr, dm = ! dV = ! (2πr dr x L)
Then, I z = ò r 2 dm = ò r 2 éë r L ( 2p r ) dr ùû
R 1
= 2pr L ò r dr = pr LR 4
3
0 2
M M
But, r = =
V p R2 L
Therefore, I z = p æç 2 ö÷ LR 4 = MR 2
1 M 1
2 èpR L ø 2
Parallel-Axis Theorem
- What about moments of inertia of object about arbitrary axis?
- Like moment of inertia of cylinder around axis parallel to z axis,
offset by R?
- There is no symmetry around this axis!
- Can use parallel-axis theorem:
I = I CM + MD 2
Parallel-Axis Theorem
( x¢ ) + ( y¢)
2 2
r’r =
So, I = ò ( r ¢ ) dm = ò ( x ¢ ) + ( y ¢ ) ù dm
é
2 2 2
ë û
Parallel-Axis Theorem
Write (x’,y’) in a NEW coordinate system with origin at (x’cm, y’cm):
x¢ = x + xCM
¢ y ¢ = y + yCM
¢ z¢ = z = 0
é
òë ( ) ( ) ù dm
2 2
Then, I = x + x ¢ + y + y ¢
CM CM û
= ò ( x 2 + y 2 ) dm + 2 xCM
¢ ò x dm
Now, ò x dm = ò y dm = 0
ò ¢ + yCM
And, dm = M and D = xCM ¢
2 2 2
I = I CM + MD 2
Example 10.9:
Applying the Parallel-Axis Theorem
Consider once again the uniform rigid rod of mass M
and length L shown in the figure. Find the moment of
inertia of the rod about an axis perpendicular to the
rod through one end (the y axis in the figure).
I = I CM + MD 2
2
1 æLö
= ML + M ç ÷
2
12 è2ø
1
= ML2
3
10.7 Rotational Kinetic Energy
Kinetic energy 1
of ith element: K i = 2 mi vi
2
i i 2 2 i
1æ 2 ö 2
=> K R = ç å mi ri ÷ w
2è i ø
1 2
=> K R = Iw Notice the similarity
2 with KE=(1/2) mv2
Quick Quiz 10.6
A section of hollow pipe and a solid cylinder have the
same radius, mass, and length. They both rotate about
their long central axes with the same angular speed.
Which object has the higher rotational kinetic energy?
(a) The hollow pipe does.
(b) The solid cylinder does.
(c) They have the same rotational kinetic energy.
(d) It is impossible to determine.
Quick Quiz 10.6
A section of hollow pipe and a solid cylinder have the
same radius, mass, and length. They both rotate about
their long central axes with the same angular speed.
Which object has the higher rotational kinetic energy?
(a) The hollow pipe does.
(b) The solid cylinder does.
(c) They have the same rotational kinetic energy.
(d) It is impossible to determine.
1 2 For hollow cylinder: I =MR2
K R = Iw For solid cylinder: I =(1/2)MR2
2
Example 10.10:
An Unusual Baton
Four tiny spheres are fastened to the ends of two rods of
negligible mass lying in the xy plane to form an unusual
baton (see figure). We shall assume the radii of the
spheres are small compared with the dimensions of the
rods.
(A) If the system rotates about the
y axis with an angular speed w,
find the moment of inertia and the
rotational kinetic energy of the
system about this axis.
Example 10.10:
An Unusual Baton
I y = å mi ri = Ma + Ma = 2Ma
2 2 2 2
1
K R = I yw 2
2
1
= ( 2 Ma ) w = Ma w
2 2 2 2
2
Example 10.10:
An Unusual Baton
(B) Suppose the system rotates in the xy plane about an
axis (the z axis) through the center of the baton.
Calculate the moment of inertia and rotational kinetic
energy about this axis.
Example 10.10:
An Unusual Baton
I z = å mi ri = Ma + Ma + mb + mb
2 2 2 2 2
= 2 Ma 2 + 2mb 2
1
K R = I zw 2
2
1
= ( 2 Ma 2 + 2mb 2 ) w 2
2
= ( Ma + mb ) w
2 2 2
10.8 Energy Considerations in
Rotational Motion
! !
dW = F × d s = ( F sin f ) rdq
dW dq
Differentiating, =t
dt dt
dW
=> P= = tw
dt
Analogous to P = Fv in case of translational motion.
10.8 Energy Considerations in
Rotational Motion
Work–kinetic energy theorem for rotational motion:
wf 1 1 2
òw I w d w = I w f - Iwi
2
=> W=
i 2 2
Work done = Change in kinetic energy.
Rotational and Translational Motion
Expressions
Example 10.11:
Rotating Rod Revisited
A uniform rod of length L and mass M is free to rotate
on a frictionless pin passing through one end. The rod
is released from rest in the horizontal position.
(A) What is its angular speed when the rod reaches its
lowest position?
Example 10.11:
Rotating Rod Revisited
A uniform rod of length L and mass M is free to rotate
on a frictionless pin passing through one end. The rod
is released from rest in the horizontal position.
(A) What is its angular speed when the rod reaches its
lowest position?
DK + DU = 0
æ1 2 ö æ 1 ö
=> ç I w - 0 ÷ + ç 0 - mgL ÷ = 0
è2 ø è 2 ø
MgL MgL 3g
=> w = = 2
=
I 3 ML
1
L
Example 10.11:
Rotating Rod Revisited
(B) Determine the tangential speed of the center of
mass and the tangential speed of the lowest point on
the rod when it is in the vertical position.
Example 10.11:
Rotating Rod Revisited
(B) Determine the tangential speed of the center of
mass and the tangential speed of the lowest point on
the rod when it is in the vertical position.
L 1
vCM = rw = w = 3gL
2 2
And, v = 2vCM = 3gL
Example 10.11:
Rotating Rod Revisited
1 3g 3g
=> w = 1/ 4 » 0.841
2 L L
Example 10.12:
Energy and the Atwood Machine
Two blocks having different masses m1 and m2 are
connected by a string passing over a pulley. The pulley
has a radius R and moment of inertia I
about its axis of rotation. The string does
not slip on the pulley, and the system is
released from rest. Find the translational
speeds of the blocks after block 2
descends through a distance h and find
the angular speed of the pulley at this
time.
Example 10.12:
Energy and the Atwood Machine
DK + DU = 0
éæ 1 1 1 2 ö ù
êç 2 m1v f + 2 m2 v f + 2 I w f ÷ - 0 ú + éë( m1 gh - m2 gh ) - 0 ùû = 0
2 2
ëè ø û
2
1 1 1 fv
m1v f + m2 v f + I 2 = m2 gh - m1 gh
2 2
2 2 2 R
1æ I ö 2
ç m1 + m2 + 2 ÷ v f = ( m2 - m1 ) gh
2è R ø
é 2 ( m2 - m1 ) gh ù
1/ 2
vf = ê 2 ú
m
ë 1 + m2 + I /R û
1 é 2 ( m2 - m1 ) gh ù
1/ 2
vf
wf = = ê ú
R R ë m1 + m2 + I /R 2 û