     → → → → → → → 
{Fnet = ∑ Fi = ma} τ net = ∑ τ i = r × F = r × m a = m r × (r × α ) = Iα

€ Work and
€
Rotational Kinetic Energy
W = ΔKE rot W = ΔKE trans 
NET Work done  
ON system = 12 I (ω 2f − ω i2 )  = 2 m (v f − vi )
1 2 2

θ2
Rotational work, W = ∫ τ net dθ  x2

fixed axis rotation
€ θ1 € W = ∫ Fdx 1 − D motion
 x1 
(if torque is const)
= τ (θ f − θ i )

dW d €  dW d    
Power, P= = (τθ ) = τω P = = ( F • x ) = F • v
€
fixed axis rotation dt dt  dt dt 

€ €
 


We can compare linear variables with rotational variables

x θ
v ω s = rθ
a α
Δt
v T = rω
Δt
F aT = rα
τ
m I

The same can be done for work and energy:

€
€ €
For translational systems For rotational systems

W =F⋅x W = τ ⋅θ
1 1
KE = mv 2 KE = Iω 2
2 2

€ €
 


All points on wheel move All points on wheel Combination of “pure

with same ω. All points on move to the right with same rotation” and “pure
outer rim move with same linear velocity vcom as center translation”
linear speed v = vcom. of wheel
  
v =ω ×r

Note at point P: vector sum of velocity = 0 (point of stationary contact)

at point T: vector sum of velocity = 2vcom (top moves twice as fast as com)
€
 


1 2 1 2
2
I comω + 2
Mv com
= KE tot

Note: rotation about COM and translation of COM combine for total KE

Remember: vcom=ωr
€ €
 Example:
Rolling
down
a
ramp
with
no
fric6on

Object, with mass m and radius r, roles
from top of incline plane to bottom.
What is v, a, and Δt at bottom
h
ΔE mech = 0
L sin θ = h
AT BOTTOM ΔKE tot = −ΔU θ

(KE rot +trans,COM ) final [

− (0) init = − (0) final − ( mgh ) init ]
1 2 € Using 1-D kinematics
mvCOM + 12 I comω 2 = mgL sin θ
2
€ v 2 = v02 + 2aL
 v
2
v2 g sin θ
1 2
mvCOM + 12 I COM   = mgL sin θ a= =
2
 r 2L  I 
1 + 2

2  I COM   mr 
vCOM  m + 2 
= 2mgL sin θ
r  AND
2L  I 
2gL sin θ t= 1 + 
vCOM = g sin θ  mr 2
 I 
1 + 
 mr 2  AT BOTTOM

€
 Compare
Different
Objects

Assuming same work done (same change in U),
objects with larger rotational inertial have larger 2gL sin θ
vCOM =
KErot and during rolling, their KEtrans is smaller.  I com 
1 + 
 I com   mr 2 
KE tot = KE trans + KE rot = KE trans 1 + 
 mr 2 
Roll a hoop, disk, and solid sphere down a ramp - what wins?
€
Rotational Fraction of Energy in
Object Inertia, Icom Translation Rotation
€
Hoop 1mr 2 0.5 0.5 slowest
Moment of inertia
large → small

Disk 1
mr 2 0.67 0.33 2L  I 
2 Δt bottom = 1 + 
g sin θ  mr 2 
2
Sphere 5
mr 2 0.71 0.29

€
sliding block 0 1 0 fastest
(no friction)

€
 Question

A ring and a solid disc, both with radius r and mass m, are
released from rest at the top of a ramp. Which one gets to
the bottom first?

1.  

Solid
disc

2.  
Ring
(hoop)

3.  
both
reach
bo9om
at

same
;me

 Question #2

Two solid disks of equal mass, but different radii, are

released from rest at the top of a ramp. Which one arrives
at the bottom first?

1.  

The smaller radius disk.


2.  
The larger radius disk.

Using 1-D kinematics
3.  
Both arrive at the same time.
v 2 = v02 + 2aL
v2 g sin θ
a= =
2L  I 
1 + 2

 mr 
The equation for the speed of the a disk at the bottom of
the ramp is 4
gl sin θ AND
3
Notice, it does not depend on the radius or the mass of 2L  I 
the disk!! t= 1 + 2

g sin θ  mr 

€
 Rolling Down
Rolling Down aa Ramp
Ramp with a Frictional Force
Consider a round uniform body of mass M and radius R
acom rolling down an inclined plane of angle θ . We will
calculate the acceleration acom of the center of mass
along the x-axis using Newton's second law for the
translational and rotational motion.

Newton's second law for motion along the x-axis: f s − Mg sin θ = Macom (eq. 1)
Newton's second law for rotation about the center of mass: τ = Rf s = I comα
acom acom
α=− We substitute α in the second equation and get Rf s = − I com →
R R
acom
f s = − I com 2
(eq. 2). We substitute f s from equation 2 into equation 1 →
R
acom g sin θ
− I com − Mg sin θ = Macom acom = −
2 I com
R 1+
MR 2
 g sin θ
| acom |=
I
acom 1 + com2
MR

Cylinder Hoop
MR 2
I1 = I 2 = MR 2
2
g sin θ g sin θ
a1 = a2 =
1 + I1 / MR 2 1 + I 2 / MR 2
g sin θ g sin θ
a1 = a2 =
1 + MR 2 / 2 MR 2 1 + MR 2 / MR 2
g sin θ g sin θ
a1 = a2 =
1 + 1/ 2 1+1
2 g sin θ g sin θ
a1 = = (0.67) g sin θ a2 = = (0.5) g sin θ
3 2
 Sample
Problem


A solid cylinder starts from rest at the upper end of the
track as shown. What is the angular speed of the
cylinder about its center when it is at the top of the
loop?
 Sample
Problem
#2
 A

A solid cylinder of radius 10 cm and mass 12 kg starts

from rest and rolls without slipping a distance of 6 m
down a house roof that is inclined at 30º. B
Where does it hit?
 Forces
of
Rolling

1) If object is rolling with acom=0 (i.e. no net forces), then vcom=ωR = constant (smooth roll)

…if constant speed, it has no tendency to slide at point of contact - no frictional forces

acom = 0 α= 0 τ =0 f=0

acom = αR Icomα = τnet τnet = |R||f|sinθ

2)  If object is rolling with acom≠ 0 (i.e. there are net forces) and no slipping occurs,
then α ≠ 0 ⇒ τ ≠ 0
… static friction needed to supply torque !

kinetic friction - during sliding (acom ≠ αR)

static friction - smooth rolling (acom = αR)

 Rolling
Down
a
Ramp:
Accelera2on
by
fs

- Acceleration
downwards
Yo-Yo
- Friction provides
torque

- Static friction points

upwards

Newton’s 2nd Law

Linear version
xˆ : f s − Fg sin θ = −ma com
yˆ : N − Fg cos θ = 0
- Tension provides
Angular version torque
zˆ : I com α = τ = Rf s R 2 ( mg sin θ − ma com )
a com = - Here θ = 90°
→ a com = αR I com - Axle: R ⇒ R0
a com Rf s
€ α= =
R I com
€ g
€
g sin θ a com =
a com = 1 + I com mR02
1 + I com mR 2
€

€
€
Problem

A yo-yo has a rotational inertia of Icom and mass of m. Its axle
radius is R0 and string’s length is h. The yo-yo is thrown so
that its initial speed down the string is v0.
a)  How long does it take to reach the end of the string?
1-D kinematics given acom
−h = Δy = −v0 t − 12 a com t 2 ⇒ solve for t (quadradic equation)
b)  As it reaches the end of the string, what is its total KE?
Conservation of mechanical energy 2
1 2 1
 vcom,0 
€ KE f = KE i + U = 2 mvcom,0 + 2 I com   + mgh
 R0 
c)  As it reaches the end of the string, what is its linear speed?
1-D kinematics given acom
€ − vcom = −v0 − a com t ⇒ solve for vcom
d)  As it reaches the end of the string, what is its translational KE?
Knowing |vcom|
1 2
€ KE trans = mvcom
2
e)  As it reaches the end of the string, what is its angular speed?
g
a com = Knowing |vcom| v
1 + I com mR02 ω= com

€ R
downwards
f)  As it reaches the end of the string, what is its rotational KE?
Two ways: KE 1 2
=
€ 2
rot
I com
ω or KE rot = K Ef ,tot − KE trans
 Which
way
will
it
roll??



1 1

3
Problem
11‐13



NON-smooth rolling motion
A bowler throws a bowling ball of radius R along a lane. The ball slides on the lane, with initial speed
vcom,0 and initial angular speed ω0 = 0. The coefficient of kinetic friction between the ball and the
lane is µk. The kinetic frictional force fk acting on the ball while producing a torque that causes an
angular acceleration of the ball. When the speed vcom has decreased enough and the angular speed
ω has increased enough, the ball stops sliding and then rolls smoothly.
a)  [After it stops sliding] What is the vcom in terms of ω ?
Smooth rolling means vcom =Rω
b)  During the sliding, what is the ball’s linear acceleration?
From 2nd law: xˆ : − f k = ma com But f k = µ k N So a = − fk m
com
(linear) yˆ : N − mg = 0 = µ k mg = −µ k g

c)  During the sliding, what is the ball’s angular acceleration?

 Iα = Rf k = R(µ k mg)
From 2€nd law: τ = Rf k (−zˆ) €But f k = µ k N So€

(angular) Iα (− zˆ ) = τ = Rf k (−zˆ) = µ k mg α = Rµ k mg I

d) What is the speed of the ball when smooth rolling begins?  vcom  
When does
€ vcom =Rω ? vcom€= v0 + a com t vcom = v€0 − µ k gt  I 
R 
vcom = v0 − µ k g 
From kinematics: ω = ω 0 + αt t = ω = Iω  R µ k mg 
α Rµ k mg  
v0
e) How long does the ball slide? vcom =
€ (1 + I mR 2 )
v0 − vcom €
t=
µkg
€