Chapter – 2

Rotational Dynamics

Tr Veda
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 𝑨 ⋅ 𝑩 = 𝑨𝑩 𝒄𝒐𝒔 𝜽

𝜃 𝐴Ԧ 𝐵
𝐴Ԧ
𝐵
𝑨⋅𝑩=𝑩⋅𝑨.
 𝐴Ԧ 𝐵

• 𝐶Ԧ is 𝑪 = 𝑨𝑩 𝒔𝒊𝒏 𝜽 .
 𝐶Ԧ
𝐴Ԧ 𝐵
𝐶Ԧ
𝐴Ԧ 𝐵
𝐴Ԧ 𝐵
𝑣=
Ԧ 𝑟𝜔
Ԧ
 𝐴Ԧ 𝐵
𝐴Ԧ 𝐵

Ԧ
(i) 𝐴.𝐵 (ii) 𝐴Ԧ x 𝐵
𝜏Ԧ = 𝑟Ԧ × 𝐹Ԧ
𝜏Ԧ = 𝑟Ԧ × 𝐹Ԧ
𝑟Ԧ 𝐹Ԧ
𝜏 = 𝐹𝑟 𝑠𝑖𝑛 𝜃 = 𝐹 × 𝑑
𝑑 = 𝑟 𝑠𝑖𝑛 𝜃
90°
Relation Between Torque and Moment of Inertia

Consider a particle of mass m at a distance r from the axis of

rotation, being acted upon by a tangential force F as shown in figure.
Let its angular velocity be w and its angular acceleration be a.

Tangential acceleration of that particle rotating about an axis is

a = ra.
Relation Between Torque and Moment of Inertia
Moment of Inertia (I)
The moment of inertia of an object is defined as the sum of the
products obtained by multiplying the mass of each particle in a given
object and the square of its distance from the axis.
Moment of Inertia (I)
The moment of inertia is a scalar.
The SI unit of moment of inertia is kilogram meter squared (kgm2).
The moment of inertia must be specified with respect to a chosen axis
of rotation.
The formulae of moment of inertia for some homogenous objects with
respective axis are shown in the following slide.
Moment of Inertia (I)
Moment of Inertia (I)
Example 2.4
Two balls are connected by a rigid rod of negligible mass. What is the
moment inertia with respect to the axis as shown in figure? The axis is
perpendicular to the rod.
Example 2.5
Calculate the moment of inertia of the earth about its axis of rotation.
Mass of the earth is 5.91 x 10 24 kg and its radius is 6.38 x 10 6 m. The
moment of inertia of solid sphere about its axis of rotation is I=.
Center of Gravity
The centre of gravity of a particular object is a point at which all its weight
may be considered to act.

For an object of regular shape and uniform density, the centre of gravity is at its
geometrical centre as shown in figure.
Center of Gravity
For example, the weight of a metre stick of uniform density is considered to be
acting at the 50 cm mark (its mid-point) as shown in
Figure.
Reviewed Exercise
If the axis moved to one end of rod passing through the 5 kg
mass in example 2.4.What is the moment of inertia of the system with
respect to the axis?
Equilibrium
When the system is in static equilibrium, there is no linear
motion and no rotational motion. Under this condition, the forces on it
must be balanced and the moment of the forces on it must also be
balanced.
Equilibrium
The conditions of static equilibrium

1. The resultant force on the system is zero, and

2. The resultant torque on the system is zero.
Equilibrium
The principle of Moments

The principle states that if an object such as a bar (or) a

plank is to be in balance, the total clockwise moment about the
fulcrum must equal the total anticlockwise moment.

To be in balance,
Equilibrium
The examples of the application of this principle are (i) building
site crane, (ii) bean balance , (iii) seesaw, etc .
Example 2.6
A uniform meter rule weighing 4 N, pivoted at the 20 cm mark, is
supported at the right-hand end at the 100 cm mark, by a vertical
thread. Find the tension in the thread.
Example 2.7
If AB is a uniform meter rule which is balanced as shown in
diagram, (i) what is the weight of the meter rule? (ii) what is the
reaction R ?
Reviewed Exercise
State the conditions of static equilibrium when a body is acted by a
number of parallel forces.
Angular Momentum and Law of Conservation of Angular
Momentum
Angular Momentum (L)

The angular momentum L of an object is defined as the product

of its moment of inertia I and the angular velocity w.
Angular Momentum and Law of Conservation of Angular
Momentum

SI unit of angular momentum is kilogram metre squared per second ()

For linear motion, the momentum is equal to the product of the mass and the
velocity.

P= mv
L = Iw
The magnitude of inertia I is analogous to mass m .
The angular velocity W is analogous to linear velocity v.
Angular Momentum and Law of Conservation of Angular
Momentum
Angular momentum is a vector quantity. The direction of the angular momentum is
shown in Figure.

Note: Angular momentum L and angular velocity w are same direction.

Angular Momentum and Law of Conservation of Angular
Momentum

The direction of angular momentum and angular velocity are along the axis of
rotation and perpendicular to the plane of rotation. The direction can be found by
right hand rule as shown in Figure.
Angular Momentum and Law of Conservation of Angular
Momentum

Law of Conservation of Angular Momentum

If there is no net external torque acting on an isolated system, the total

angular momentum of the system is constant.

In symbols,

The law of conservation of angular momentum is also one fundamental law of

physics.
Angular Momentum and Law of Conservation of Angular
Momentum

Examples of conservation of angular momentum

(1) An ice skater is performing a spin by the law of conservation of angular

momentum as shown in Figure (see next slide).

Her angular momentum is conserved because the net torque on her is

very small (negligible net torque)
Angular Momentum and Law of Conservation of Angular
Momentum
Angular Momentum and Law of Conservation of Angular
Momentum

Examples of conservation of angular momentum

Her rate of spin (angular speed) increases greatly as her moment of inertia
decreased by pulling in her arms inwards.

If she want to slow down her rotation, she will stretch her arms outwards. When
her moment of inertia increased by stretching her arms outwards, the rotational
angular speed will decrease.
Angular Momentum and Law of Conservation of Angular
Momentum

Examples of conservation of angular momentum

(2) A springboard diver who is rotating when jumping off the board
does not need to make any physical effort to continue rotating as
shown in Figure.
Angular Momentum and Law of Conservation of Angular
Momentum

Examples of conservation of angular momentum

We can easily see that application of conservation of angular momentum to

determine the angular velocity of a rotating system in which the moment of inertia is
changing.
Example 2.8
A child of mass of 30 kg stands at the edge of small merry-go-
round that is rotating at a rate of 1 rad/s. The merry-go-round is a disc
of radius of 2.5 m and mass of 100 kg. If the child walks in toward the
center of the disc and stops 0.5 m from the center, what is the angular
velocity of merry-go-round? (The friction can be ignored.) Moment of
inertia of disc = ½ MR2
Reviewed Exercise

What will happen to the angular velocity of an ice skater as she folds
her arms and legs close together?
 Linear Motion Rotational Motion Relation
Displacement, s (m) Angular displacement, 𝜃 (rad) s = r𝜃

Velocity, v (𝑚𝑠 −1 ) Angular velocity, 𝜔 (𝑟𝑎𝑑 𝑠 −1 ) v= r𝜔

Acceleration, a (𝑚𝑠 −2 ) Angular acceleration, 𝛼 (𝑟𝑎𝑑 𝑠 −2 ) a= r𝛼

Mass, m (kg) Moment of inertia, 𝐼 ( kgm2 ) 𝐼 = 𝛴𝑖 𝑚𝑖 𝑟𝑖2

Force, F (N) Torque, 𝜏 (Nm) 𝜏 = 𝐹𝑟 𝑠𝑖𝑛 𝜃 , 𝜏Ԧ = 𝑟Ԧ × 𝐹Ԧ

Momentum, p (𝑘𝑔𝑚𝑠 −1 ) Angular Momentum, L (kgm2 s −1 ) L = rp = mvr

Force, F = ma Torque, 𝜏 = 𝐼𝛼 𝜏 =𝐹×𝑑

Momentum, p = mv Angular Momentum, 𝐿 = 𝐼𝜔 𝐿 and 𝜔 are same direction

If 𝐹𝑛𝑒𝑡 = 0 then 𝑎Ԧ = 0 (or) If 𝜏Ԧ𝑛𝑒𝑡 = 0 then 𝛼Ԧ = 0 (or) Newton’s First Law (or) Law of inertia
𝑣Ԧ = constant (or) zero 𝜔 = constant (or) zero
Displacement, s (m) Angular displacement, 𝜃 (rad) s = r𝜃

Velocity, v (𝑚𝑠 −1 ) Angular velocity, 𝜔 (𝑟𝑎𝑑 𝑠 −1 ) v= r𝜔

Acceleration, a (𝑚𝑠 −2 ) Angular acceleration, 𝛼 (𝑟𝑎𝑑 𝑠 −2 ) a= r𝛼

Mass, m (kg) Moment of inertia, 𝐼 ( kgm2 ) 𝐼 = 𝛴𝑖 𝑚𝑖 𝑟𝑖2

Force, F (N) Torque, 𝜏 (Nm) 𝜏 = 𝐹𝑟 𝑠𝑖𝑛 𝜃 , 𝜏Ԧ = 𝑟Ԧ × 𝐹Ԧ

Momentum, p (𝑘𝑔𝑚𝑠 −1 ) Angular Momentum, L (kgm2 s −1 ) L = rp = mvr

Force, F = ma Torque, 𝜏 = 𝐼𝛼 𝜏 =𝐹×𝑑

Momentum, p = mv Angular Momentum, 𝐿 = 𝐼𝜔 𝐿 and 𝜔 are same direction

If 𝐹𝑛𝑒𝑡 = 0 then 𝑎Ԧ = 0 (or) If 𝜏Ԧ𝑛𝑒𝑡 = 0 then 𝛼Ԧ = 0 (or) Newton’s First Law (or) Law of inertia
𝑣Ԧ = constant (or) zero 𝜔 = constant (or) zero

If 𝛴𝐹Ԧ = 0 then 𝑝Ԧ𝑡𝑜𝑡𝑎𝑙 = constant If 𝛴𝜏Ԧ = 0 then 𝐿𝑡𝑜𝑡𝑎𝑙 = constant Law of conservation of Linear/Angular
Momentum
𝛴𝐹Ԧ = 0 𝛴𝜏Ԧ = 0 Conditions of static Equilibrium
Chapter 2 (Exercises)
Is there a net torque acting on a rotating object with a constant angular
velocity?

What is the physical meaning of the moment of inertia?

To get the larger turning effect of force, how should the applied force
be acted?
Chapter 2 (Exercises)

A student pulls down with a force of 40 N on a rope that winds around

a pulley of radius 0.2 m. Find the torque acting on the pulley.

A simple pendulum with the bob of 0.5 kg and its length of 80 cm is

suspended from a rigid clamp. Find the torque produced by the weight
of bob about the point of suspension when the pendulum is swung 20
from vertical line.
Chapter 2 (Exercises)

A student performs an experiment on turning effect of a force using a

half metre rule of negligible mass. (i) He holds the half-meter rule at 40
cm mark in a horizontal position and hangs at 5 N weight at 15 cm mark.
What is the moment of the weight about his hand? (ii) He then moves
the weight to the 5 cm mark. He feels that it is more difficult to maintain
the half-metre rule in the horizontal position. Explain why.
Chapter 2 (Exercises)
A bridge over a stream is made from a uniform wooden bean which
weighs 4500 N and is 16 m long. Its ends A and B are supported on
boulders. If a man weighing 800 N is standing on the bridge 4 m from
A, what is the reaction at the boulder (i) under A (ii) under B?

A uniform beam of 1 m balances horizontally about a pivot at its

midpoint when a weight of 1 N is suspended from the 15 cm mark and
another weight w is suspended from the 90 cm mark. Calculate the
weight w. In your calculation, why is the weight of beam not included?
Chapter 2 (Exercises)
A 45 kg girl and a 65 kg boy are sitting on a see-saw in equilibrium. If
the boy is sitting 0.7 m from the fulcrum , where is the girl sitting?

A rod is rotated about a perpendicular axis through at its centre (or)

through at one end. (i) Which condition will give the greater moment of
inertia? (ii) How much greater will it be?

An object spins with an angular speed w. If its moment of inertia

increases by a factor of 2 without applying an external torque, what will
be its new angular speed?