S P R M: Ystems OF Articles AND Otational Otion

CHAPTER SEVEN
SYSTEMS OF PARTICLES AND ROTATIONAL MOTION
7.1 INTRODUCTION
In the earlier chapters we primarily considered the motion
of a single particle. (A particle is ideally represented as a
7.1 Introduction point mass having no size.) We applied the results of our
7.2 Centre of mass study even to the motion of bodies of finite size, assuming
7.3 Motion of centre of mass that motion of such bodies can be described in terms of the
7.4 Linear momentum of a motion of a particle.
system of particles Any real body which we encounter in daily life has a
7.5 Vector product of two finite size. In dealing with the motion of extended bodies
vectors (bodies of finite size) often the idealised model of a particle is
7.6 Angular velocity and its inadequate. In this chapter we shall try to go beyond this
relation with linear velocity inadequacy. We shall attempt to build an understanding of
7.7 T or que and angular the motion of extended bodies. An extended body, in the
momentum first place, is a system of particles. We shall begin with the
7.8 Equilibrium of a rigid body consideration of motion of the system as a whole. The centre
7.9 Moment of inertia of mass of a system of particles will be a key concept here.
7.10 Theorems of perpendicular We shall discuss the motion of the centre of mass of a system
and parallel axes of particles and usefulness of this concept in understanding
7.11 Kinematics of rotational the motion of extended bodies.
motion about a fixed axis A large class of problems with extended bodies can be
7.12 Dynamics of r otational solved by considering them to be rigid bodies. Ideally a
motion about a fixed axis rigid body is a body with a perfectly definite and
7.13 Angular momentum in case unchanging shape. The distances between all pairs of
of rotation about a fixed axis particles of such a body do not change. It is evident from
7.14 Rolling motion this definition of a rigid body that no real body is truly rigid,
since real bodies deform under the influence of forces. But in
Summary many situations the deformations are negligible. In a number
Points to Ponder of situations involving bodies such as wheels, tops, steel
Exercises beams, molecules and planets on the other hand, we can ignore
Additional exercises that they warp (twist out of shape), bend or vibrate and treat
them as rigid.
7.1.1 What kind of motion can a rigid body have?

Let us try to explore this question by taking some examples
of the motion of rigid bodies. Let us begin with a rectangular
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most common way to constrain a rigid body so

that it does not have translational motion is to
fix it along a straight line. The only possible
motion of such a rigid body is rotation. The line
or fixed axis about which the body is rotating is
its axis of rotation. If you look around, you will
come across many examples of rotation about
an axis, a ceiling fan, a potter’s wheel, a giant
wheel in a fair, a merry-go-round and so on (Fig
Fig 7.1 Translational (sliding) motion of a block down
an inclined plane.
7.3(a) and (b)).
(Any point like P1 or P2 of the block moves
with the same velocity at any instant of time.)
block sliding down an inclined plane without any

sidewise movement. The block is taken as a rigid
body. Its motion down the plane is such that all
the particles of the body are moving together,
i.e. they have the same velocity at any instant
of time. The rigid body here is in pure
translational motion (Fig. 7.1).
In pure translational motion at any
instant of time, all particles of the body have
the same velocity.
Consider now the rolling motion of a solid
metallic or wooden cylinder down the same
(a)
inclined plane (Fig. 7.2). The rigid body in this
problem, namely the cylinder, shifts from the
top to the bottom of the inclined plane, and thus,
seems to have translational motion. But as Fig.
7.2 shows, all its particles are not moving with
the same velocity at any instant. The body,
therefore, is not in pure translational motion.
Its motion is translational plus ‘something else.’
Fig. 7.2 Rolling motion of a cylinder. It is not pure

translational motion. Points P1, P2, P3 and P4
have different velocities (shown by arrows)
(b)
at any instant of time. In fact, the velocity of
Fig. 7.3 Rotation about a fixed axis
the point of contact P3 is zero at any instant,
(a) A ceiling fan
if the cylinder rolls without slipping.
(b) A potter’s wheel.
In order to understand what this ‘something Let us try to understand what rotation is,
else’ is, let us take a rigid body so constrained what characterises rotation. You may notice that
that it cannot have translational motion. The in rotation of a rigid body about a fixed axis,
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Fig. 7.5 (a) A spinning top

(The point of contact of the top with the
ground, its tip O, is fixed.)
Axis of oscillation
Axis of
rotation
from blades
Fig. 7.4 A rigid body rotation about the z-axis (Each
point of the body such as P 1 or
P2 describes a circle with its centre (C 1
or C2) on the axis of rotation. The radius of
the circle (r1or r 2 ) is the perpendicular
distance of the point (P1 or P2 ) from the
axis. A point on the axis like P3 remains
stationary).
every particle of the body moves in a circle, Fig. 7.5 (b) An oscillating table fan with rotating
blades. The pivot of the fan, point O, is
which lies in a plane perpendicular to the axis
fixed. The blades of the fan are under
and has its centre on the axis. Fig. 7.4 shows rotational motion, whereas, the axis of
the rotational motion of a rigid body about a fixed rotation of the fan blades is oscillating.
axis (the z-axis of the frame of reference). Let P1
In some examples of rotation, however, the
be a particle of the rigid body, arbitrarily chosen axis may not be fixed. A prominent example of
and at a distance r1 from fixed axis. The particle this kind of rotation is a top spinning in place
P1 describes a circle of radius r1 with its centre [Fig. 7.5(a)]. (We assume that the top does not
C1 on the fixed axis. The circle lies in a plane slip from place to place and so does not have
perpendicular to the axis. The figure also shows translational motion.) We know from experience
another particle P2 of the rigid body, P2 is at a that the axis of such a spinning top moves
distance r2 from the fixed axis. The particle P2 around the vertical through its point of contact
moves in a circle of radius r2 and with centre C2 with the ground, sweeping out a cone as shown
on the axis. This circle, too, lies in a plane in Fig. 7.5(a). (This movement of the axis of the
perpendicular to the axis. Note that the circles top around the vertical is termed precession.)
described by P1 and P2 may lie in different planes; Note, the point of contact of the top with
both these planes, however, are perpendicular ground is fixed. The axis of rotation of the top
to the fixed axis. For any particle on the axis at any instant passes through the point of
like P 3 , r = 0. Any such particle remains contact. Another simple example of this kind of
stationary while the body rotates. This is rotation is the oscillating table fan or a pedestal
expected since the axis of rotation is fixed. fan [Fig.7.5(b)]. You may have observed that the
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axis of rotation of such a fan has an oscillating Thus, for us rotation will be about a fixed axis
(sidewise) movement in a horizontal plane about only unless stated otherwise.
the vertical through the point at which the axis The rolling motion of a cylinder down an
is pivoted (point O in Fig. 7.5(b)). inclined plane is a combination of rotation about
While the fan rotates and its axis moves a fixed axis and translation. Thus, the
sidewise, this point is fixed. Thus, in more ‘something else’ in the case of rolling motion
general cases of rotation, such as the rotation which we referred to earlier is rotational motion.
of a top or a pedestal fan, one point and not You will find Fig. 7.6(a) and (b) instructive from
one line, of the rigid body is fixed. In this case this point of view. Both these figures show
the axis is not fixed, though it always passes motion of the same body along identical
through the fixed point. In our study, however, translational trajectory. In one case, Fig. 7.6(a),
we mostly deal with the simpler and special case the motion is a pure translation; in the other
of rotation in which one line (i.e. the axis) is fixed. case [Fig. 7.6(b)] it is a combination of
translation and rotation. (You may try to
reproduce the two types of motion shown, using
a rigid object like a heavy book.)
We now recapitulate the most important
observations of the present section: The motion
of a rigid body which is not pivoted or fixed in
some way is either a pure translation or a
combination of translation and rotation. The
motion of a rigid body which is pivoted or fixed
Fig. 7.6(a) Motion of a rigid body which is pure
in some way is rotation. The rotation may be
translation.
about an axis that is fixed (e.g. a ceiling fan) or
moving (e.g. an oscillating table fan [Fig.7.5(b)]).
We shall, in the present chapter, consider
rotational motion about a fixed axis only.
7.2 CENTRE OF MASS

We shall first see what the centre of mass of a
system of particles is and then discuss its
significance. For simplicity we shall start with
a two particle system. We shall take the line
Fig. 7.6(b) Motion of a rigid body which is a joining the two particles to be the x- axis.
combination of translation and
rotation.
Fig 7.6 (a) and 7.6 (b) illustrate different motions of
the same body. Note P is an arbitrary point of the
body; O is the centre of mass of the body, which is
defined in the next section. Suffice to say here that
the trajectories of O are the translational trajectories
Tr1 and Tr2 of the body. The positions O and P at
three different instants of time are shown by O1, O2,
and O3, and P 1, P2 and P3 , respectively, in both
Figs. 7.6 (a) and (b) . As seen from Fig. 7.6(a), at any
instant the velocities of any particles like O and P of
the body are the same in pure translation. Notice, in
this case the orientation of OP, i.e. the angle OP makes
Fig. 7.7
with a fixed direction, say the horizontal, remains
the same, i.e. α1 = α2 = α3. Fig. 7.6 (b) illustrates a
case of combination of translation and rotation. In Let the distances of the two particles be x1
this case, at any instants the velocities of O and P and x2 respectively from some origin O. Let m1
differ. Also, α1, α2 and α3 may all be different. and m2 be respectively the masses of the two
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particles. The centre of mass of the system is

m (y1 + y 2 + y 3 ) y1 + y 2 + y 3
that point C which is at a distance X from O, Y = =
where X is given by 3m 3
Thus, for three particles of equal mass, the
m 1 x1 + m 2 x 2
X = (7.1)
centre of mass coincides with the centroid of the
m1 + m 2 triangle formed by the particles.
In Eq. (7.1), X can be regarded as the mass- Results of Eqs. (7.3a) and (7.3b) are
weighted mean of x1 and x2. If the two particles generalised easily to a system of n particles, not
have the same mass m1 = m2 = m, then necessarily lying in a plane, but distributed in
space. The centre of mass of such a system is
mx 1 + mx 2 x 1 + x 2
X = = at (X, Y, Z ), where
2m 2
Thus, for two particles of equal mass the X =
mi xi (7.4a)
centre of mass lies exactly midway between M
them.
If we have n particles of masses m1, m2, Y =
 m i yi (7.4b)
...mn respectively, along a straight line taken as M
the x- axis, then by definition the position of the
centre of the mass of the system of particles is and Z =
 m i zi (7.4c)
given by. M
n
∑ mi x i
Here M = mi is the total mass of the
m x + m 2 x 2 + ... + m n x n
X= 1 1 = i= 1
=
∑ mx
i i
(7.2) system. The index i runs from 1 to n; mi is the
m1 + m 2 +... + m n
∑
n
mi ∑m i mass of the ith particle and the position of the
i= 1 ith particle is given by (xi, yi, zi).
where x1, x2,...xn are the distances of the Eqs. (7.4a), (7.4b) and (7.4c) can be
particles from the origin; X is also measured from combined into one equation using the notation
the same origin. The symbol  (the Greek letter of position vectors. Let ri be the position vector
sigma) denotes summation, in this case over n of the ith particle and R be the position vector of
particles. The sum the centre of mass:
 mi =M r = x i + y j + z k
i i i

i
is the total mass of the system. and R = X i + Y j + Z k


Suppose that we have three particles, not
lying in a straight line. We may define x– and y–
axes in the plane in which the particles lie and Then R =
 m i ri (7.4d)
represent the positions of the three particles by M
coordinates (x1,y1), (x2,y2) and (x3,y3) respectively. The sum on the right hand side is a vector
Let the masses of the three particles be m1, m2 sum.
and m3 respectively. The centre of mass C of Note the economy of expressions we achieve
the system of the three particles is defined and by use of vectors. If the origin of the frame of
located by the coordinates (X, Y) given by reference (the coordinate system) is chosen to
m 1x 1 + m 2 x 2 + m 3 x 3
be the centre of mass then  mi ri = 0 for the
X = (7.3a) given system of particles.
m1 + m 2 + m 3
A rigid body, such as a metre stick or a
m 1y1 + m 2y2 + m 3y3 flywheel, is a system of closely packed particles;
Y = (7.3b) Eqs. (7.4a), (7.4b), (7.4c) and (7.4d) are
m1 + m 2 + m 3
therefore, applicable to a rigid body. The number
For the particles of equal mass m = m1 = m2 of particles (atoms or molecules) in such a body
= m3, is so large that it is impossible to carry out the
m (x1 + x 2 + x 3 ) x1 + x 2 + x 3 summations over individual particles in these
X = = equations. Since the spacing of the particles is
3m 3
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small, we can treat the body as a continuous Let us consider a thin rod, whose width and
distribution of mass. We subdivide the body into breath (in case the cross section of the rod is
n small elements of mass; ∆m1, ∆m2... ∆mn; the rectangular) or radius (in case the cross section
ith element ∆mi is taken to be located about the of the rod is cylindrical) is much smaller than
point (xi, yi, zi). The coordinates of the centre of its length. Taking the origin to be at the
mass are then approximately given by geometric centre of the rod and x-axis to be
along the length of the rod, we can say that on
X =
 (∆m i )x i , Y =  (∆m i )yi , Z =  (∆m i )zi account of reflection symmetry, for every
 ∆m i  ∆m i  ∆m i element dm of the rod at x, there is an element
of the same mass dm located at –x (Fig. 7.8).
As we make n bigger and bigger and each
∆m i smaller and smaller, these expressions
The net contribution of every such pair to
become exact. In that case, we denote the sums
over i by integrals. Thus, the integral and hence the integral itself
is zero. From Eq. (7.6), the point for which the
∑ ∆m i → ∫ dm = M , integral itself is zero, is the centre of mass.
Thus, the centre of mass of a homogenous thin
∑ ( ∆m i )x i → ∫ x dm , rod coincides with its geometric centre. This can
be understood on the basis of reflection symmetry.
∑ ( ∆m i )yi → ∫ y dm , The same symmetry argument will apply to
homogeneous rings, discs, spheres, or even
and ∑ (∆m i )zi → ∫ z dm thick rods of circular or rectangular cross
Here M is the total mass of the body. The section. For all such bodies you will realise that
coordinates of the centre of mass now are for every element dm at a point (x, y, z ) one can
1 1 1 always take an element of the same mass at
X=
M ∫ x dm , Y =
M ∫ y dm and Z = M ∫ z dm (7.5a) the point (–x, –y, –z ). (In other words, the origin
is a point of reflection symmetry for these
The vector expression equivalent to these
bodies.) As a result, the integrals in Eq. (7.5 a)
three scalar expressions is
all are zero. This means that for all the above
1 bodies, their centre of mass coincides with their
M∫
R= r dm (7.5b)
geometric centre.
If we choose, the centre of mass as the origin
of our coordinate system,  Example 7.1 Find the centre of mass of
three particles at the vertices of an
R= 0
equilateral triangle. The masses of the
i.e., ∫ r dm = 0 particles are 100g, 150g, and 200g
respectively. Each side of the equilateral
or ∫ x dm = ∫ y dm = ∫ z dm = 0 (7.6) triangle is 0.5m long.
Often we have to calculate the centre of mass Answer

of homogeneous bodies of regular shapes like
rings, discs, spheres, rods etc. (By a
homogeneous body we mean a body with
uniformly distributed mass.) By using symmetry
consideration, we can easily show that the
centres of mass of these bodies lie at their
geometric centres.
Fig. 7.8 Determining the CM of a thin rod. Fig. 7.9
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With the x – and y–axes chosen as shown in Fig. concurrence of the medians, i.e. on the centroid
7.9, the coordinates of points O, A and B forming G of the triangle. 
the equilateral triangle are respectively (0,0),
(0.5,0), (0.25,0.25 3 ). Let the masses 100 g,  Example 7.3 Find the centre of mass of a
150g and 200g be located at O, A and B be uniform L-shaped lamina (a thin flat plate)
respectively. Then, with dimensions as shown. The mass of
the lamina is 3 kg.
m 1x 1 + m 2 x 2 + m 3 x 3
X =
m1 + m 2 + m 3 Answer Choosing the X and Y axes as shown
in Fig. 7.11 we have the coordinates of the
100 (0 ) + 150(0.5) + 200(0.25) gm vertices of the L-shaped lamina as given in the
=
(100 + 150 + 200) g figure. We can think of the
L-shape to consist of 3 squares each of length
75 + 50 125 5 1m. The mass of each square is 1kg, since the
= m= m= m
450 450 18 lamina is uniform. The centres of mass C1, C2
and C3 of the squares are, by symmetry, their
100(0) + 150(0) + 200(0.25 3) gm geometric centres and have coordinates (1/2,1/2),
Y = (3/2,1/2), (1/2,3/2) respectively. We take the
450 g
masses of the squares to be concentrated at
these points. The centre of mass of the whole
50 3 3 1
= m= m= m L shape (X, Y) is the centre of mass of these
450 9 3 3 mass points.
The centre of mass C is shown in the figure.
Note that it is not the geometric centre of the
triangle OAB. Why? 
 Example 7.2 Find the centre of mass of a

triangular lamina.
Answer The lamina (∆LMN ) may be subdivided

into narrow strips each parallel to the base (MN)
as shown in Fig. 7.10
Fig. 7.11
Hence
X =
[1(1/ 2) + 1(3 / 2) + 1(1/2)] kg m 5
= m
Fig. 7.10 (1 + 1 + 1) kg 6
By symmetry each strip has its centre of [1(1/2) + 1(1/2) + 1(3 / 2)] kg m 5
mass at its midpoint. If we join the midpoint of Y = = m
all the strips we get the median LP. The centre (1 + 1 + 1) kg 6
of mass of the triangle as a whole therefore, has The centre of mass of the L-shape lies on
to lie on the median LP. Similarly, we can argue the line OD. We could have guessed this without
that it lies on the median MQ and NR. This calculations. Can you tell why? Suppose, the
means the centre of mass lies on the point of three squares that make up the L shaped lamina
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of Fig. 7.11 had different masses. How will you Thus, the total mass of a system of particles
then determine the centre of mass of the lamina? times the acceleration of its centre of mass is
 the vector sum of all the forces acting on the
system of particles.
7.3 MOTION OF CENTRE OF MASS Note when we talk of the force F1 on the first
Equipped with the definition of the centre of particle, it is not a single force, but the vector
mass, we are now in a position to discuss its sum of all the forces on the first particle; likewise
physical importance for a system of n particles. for the second particle etc. Among these forces
We may rewrite Eq.(7.4d) as on each particle there will be external forces
exerted by bodies outside the system and also
MR =  m i ri = m1r1 + m 2 r2 + ... + m n rn (7.7) internal forces exerted by the particles on one
Differentiating the two sides of the equation another. We know from Newton’s third law that
with respect to time we get these internal forces occur in equal and opposite
dR dr dr dr pairs and in the sum of forces of Eq. (7.10),
M = m1 1 + m 2 2 + ... + m n n their contribution is zero. Only the external
dt dt dt dt
forces contribute to the equation. We can then
rewrite Eq. (7.10) as
or
MA = Fext (7.11)
M V = m1 v1 + m 2 v 2 + ... + m n vn (7.8)
where Fext represents the sum of all external
where v1 ( = dr1 /dt ) is the velocity of the first
forces acting on the particles of the system.
particle v 2 ( = dr 2 dt ) is the velocity of the Eq. (7.11) states that the centre of mass
of a system of particles moves as if all the
second particle etc. and V = dR / dt is the mass of the system was concentrated at the
velocity of the centre of mass. Note that we centre of mass and all the external forces
assumed the masses m 1, m 2, ... etc. do not were applied at that point.
change in time. We have therefore, treated them Notice, to determine the motion of the centre
as constants in differentiating the equations of mass no knowledge of internal forces of the
with respect to time. system of particles is required; for this purpose
Differentiating Eq.(7.8) with respect to time, we need to know only the external forces.
we obtain To obtain Eq. (7.11) we did not need to
specify the nature of the system of particles.
dV dv1 dv 2 dv n
M = m1 + m2 + ... + m n The system may be a collection of particles in
dt dt dt dt which there may be all kinds of internal
or motions, or it may be a rigid body which has
either pure translational motion or a
MA = m 1a1 + m 2 a 2 + ... + m n an (7.9)
combination of translational and rotational
where a1 ( = dv1 /dt ) is the acceleration of the motion. Whatever is the system and the motion
of its individual particles, the centre of mass
first particle, a 2 ( = dv 2 / dt ) is the acceleration moves according to Eq. (7.11).
Instead of treating extended bodies as single
of the second particle etc. and A (= d V / dt ) is
particles as we have done in earlier chapters,
the acceleration of the centre of mass of the we can now treat them as systems of particles.
system of particles. We can obtain the translational component of
Now, from Newton’s second law, the force their motion, i.e. the motion of the centre of mass
acting on the first particle is given by F1 = m1a1 . of the system, by taking the mass of the whole
The force acting on the second particle is given system to be concentrated at the centre of mass
and all the external forces on the system to be
by F2 = m 2 a 2 and so on. Eq. (7.9) may be written
acting at the centre of mass.
as This is the procedure that we followed earlier
MA = F1 + F2 + ... + Fn (7.10) in analysing forces on bodies and solving
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problems without explicitly outlining and where F is the force on the particle. Let us
justifying the procedure. We now realise that in consider a system of n particles with masses m1,
earlier studies we assumed, without saying so, m2,...mn respectively and velocities v1 , v 2 ,.......vn
that rotational motion and/or internal motion
respectively. The particles may be interacting
of the particles were either absent or negligible.
and have external forces acting on them. The
We no longer need to do this. We have not only
found the justification of the procedure we linear momentum of the first particle is m1v1 ,
followed earlier; but we also have found how to of the second particle is m 2 v 2 and so on.
describe and separate the translational motion
For the system of n particles, the linear
of (1) a rigid body which may be rotating as
momentum of the system is defined to be the
well, or (2) a system of particles with all kinds
vector sum of all individual particles of the
of internal motion.
system,
P = p1 + p2 + ... + pn
= m1 v1 + m 2 v 2 + ... + m n vn (7.14)
Comparing this with Eq. (7.8)
P=MV (7.15)
Thus, the total momentum of a system
of particles is equal to the product of the
total mass of the system and the velocity of
its centre of mass. Differentiating Eq. (7.15)
with respect to time,
dP dV
Fig. 7.12 The centre of mass of the fragments =M = MA (7.16)
dt dt
of the projectile continues along the
same parabolic path which it would Comparing Eq.(7.16) and Eq. (7.11),
have followed if there were no dP
explosion. = Fext (7.17)
dt
Figure 7.12 is a good illustration of Eq. This is the statement of Newton’s second law
(7.11). A projectile, following the usual parabolic of motion extended to a system of particles.
trajectory, explodes into fragments midway in Suppose now, that the sum of external
air. The forces leading to the explosion are forces acting on a system of particles is zero.
internal forces. They contribute nothing to the Then from Eq.(7.17)
motion of the centre of mass. The total external
dP
force, namely, the force of gravity acting on the = 0 or P = Constant (7.18a)
body, is the same before and after the explosion. dt
The centre of mass under the influence of the Thus, when the total external force acting
external force continues, therefore, along the on a system of particles is zero, the total linear
same parabolic trajectory as it would have momentum of the system is constant. This is
followed if there were no explosion. the law of conservation of the total linear
momentum of a system of particles. Because of
7.4 LINEAR MOMENTUM OF A SYSTEM OF Eq. (7.15), this also means that when the
PARTICLES total external force on the system is zero
Let us recall that the linear momentum of a the velocity of the centre of mass remains
constant. (We assume throughout the
particle is defined as
discussion on systems of particles in this
p=mv (7.12) chapter that the total mass of the system
Let us also recall that Newton’s second law remains constant.)
written in symbolic form for a single particle is Note that on account of the internal forces,
dp i.e. the forces exerted by the particles on one
F= (7.13) another, the individual particles may have
dt
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complicated trajectories. Yet, if the total external

force acting on the system is zero, the centre of
mass moves with a constant velocity, i.e., moves
uniformly in a straight line like a free particle.
The vector Eq. (7.18a) is equivalent to three
scalar equations,
Px = c1, Py = c2 and Pz = c3 (7.18 b) (a) (b)
Here Px, Py and Pz are the components of the
total linear momentum vector P along the x–, y– Fig. 7.14 (a) Trajectories of two stars, S1 (dotted
and z–axes respectively; c 1 , c 2 and c 3 are line) and S 2 (solid line) forming a
constants. binary system with their centre of
mass C in uniform motion.
(b) The same binary system, with the
centre of mass C at rest.
move back to back with their centre of mass

remaining at rest as shown in Fig.7.13 (b).
In many problems on the system of
particles, as in the above radioactive decay
problem, it is convenient to work in the centre
of mass frame rather than in the laboratory
frame of reference.
(a) (b)
In astronomy, binary (double) stars is a
common occurrence. If there are no external
forces, the centre of mass of a double star
Fig. 7.13 (a) A heavy nucleus radium (Ra) splits into
moves like a free particle, as shown in Fig.7.14
a lighter nucleus radon (Rn) and an alpha
particle (nucleus of helium atom). The CM
(a). The trajectories of the two stars of equal
of the system is in uniform motion. mass are also shown in the figure; they look
(b) The same spliting of the heavy nucleus complicated. If we go to the centre of mass
radium (Ra) with the centre of mass at frame, then we find that there the two stars
rest. The two product particles fly back are moving in a circle, about the centre of
to back. mass, which is at rest. Note that the position
of the stars have to be diametrically opposite
As an example, let us consider the to each other [Fig. 7.14(b)]. Thus in our frame
radioactive decay of a moving unstable particle, of reference, the trajectories of the stars are a
like the nucleus of radium. A radium nucleus combination of (i) uniform motion in a straight
disintegrates into a nucleus of radon and an line of the centre of mass and (ii) circular
alpha particle. The forces leading to the decay orbits of the stars about the centre of mass.
are internal to the system and the external As can be seen from the two examples,
forces on the system are negligible. So the total separating the motion of different parts of a
linear momentum of the system is the same system into motion of the centre of mass and
motion about the centre of mass is a very
before and after decay. The two particles
useful technique that helps in understanding
produced in the decay, the radon nucleus and
the motion of the system.
the alpha particle, move in different directions
in such a way that their centre of mass moves
7.5 VECTOR PRODUCT OF TWO VECTORS
along the same path along which the original
decaying radium nucleus was moving We are already familiar with vectors and their
[Fig. 7.13(a)]. use in physics. In chapter 6 (Work, Energy,
If we observe the decay from the frame of Power) we defined the scalar product of two
reference in which the centre of mass is at rest, vectors. An important physical quantity, work,
the motion of the particles involved in the decay is defined as a scalar product of two vector
looks particularly simple; the product particles quantities, force and displacement.
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We shall now define another product of two A simpler version of the right hand rule is
vectors. This product is a vector. Two important the following : Open up your right hand palm
quantities in the study of rotational motion, and curl the fingers pointing from a to b. Your
namely, moment of a force and angular stretched thumb points in the direction of c.
momentum, are defined as vector products. It should be remembered that there are two
angles between any two vectors a and b . In
Definition of Vector Product Fig. 7.15 (a) or (b) they correspond to θ (as
A vector product of two vectors a and b is a shown) and (3600– θ). While applying either of
vector c such that the above rules, the rotation should be taken
(i) magnitude of c = c = ab sin θ where a and b through the smaller angle (<1800) between a
are magnitudes of a and b and θ is the and b. It is θ here.
angle between the two vectors. Because of the cross (×) used to denote the
(ii) c is perpendicular to the plane containing vector product, it is also referred to as cross product.
a and b. • Note that scalar product of two vectors is
(iii) if we take a right handed screw with its head commutative as said earlier, a.b = b.a
lying in the plane of a and b and the screw The vector product, however, is not
perpendicular to this plane, and if we turn commutative, i.e. a × b ≠ b × a
the head in the direction from a to b, then The magnitude of both a × b and b × a is the
the tip of the screw advances in the direction same ( ab sin θ ); also, both of them are
of c. This right handed screw rule is perpendicular to the plane of a and b. But the
illustrated in Fig. 7.15a. rotation of the right-handed screw in case of
Alternately, if one curls up the fingers of a × b is from a to b, whereas in case of b × a it
right hand around a line perpendicular to the is from b to a. This means the two vectors are
plane of the vectors a and b and if the fingers in opposite directions. We have
are curled up in the direction from a to b, then a × b = −b × a
the stretched thumb points in the direction of • Another interesting property of a vector
c, as shown in Fig. 7.15b.
product is its behaviour under reflection.
Under reflection (i.e. on taking the plane
mirror image) we have
x → − x , y → −y and z → − z . As a result all
the components of a vector change sign and
thus a → −a , b → −b . What happens to
a × b under reflection?
a × b → ( −a ) × ( − b) = a × b
Thus, a × b does not change sign under
reflection.
• Both scalar and vector products are
distributive with respect to vector addition.
Thus,
a.( b + c) = a.b + a.c
a × ( b + c) = a × b + a × c
(a) (b) • We may write c = a × b in the component
form. For this we first need to obtain some
elementary cross products:
Fig. 7.15 (a) Rule of the right handed screw for (i) a × a = 0 (0 is a null vector, i.e. a vector
defining the direction of the vector with zero magnitude)
product of two vectors.
(b) Rule of the right hand for defining the
This follows since magnitude of a × a is
direction of the vector product. a 2 sin 0° = 0 .
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152 PHYSICS
From this follow the results

î ˆj ˆ
k
(i) î × î = 0, ˆj × ˆj = 0, k
ˆ ×k
ˆ =0
a×b= 3 −4 5 = 7î − ˆj − 5k
ˆ
(ii) î × ˆj = k
ˆ −2 1 −3
Note that the magnitude of î × ˆj is sin900
Note b × a = −7î + ˆj + 5k
ˆ 
or 1, since î and ĵ both have unit
magnitude and the angle between them is 900. 7.6 ANGULAR VELOCITY AND ITS
RELATION WITH LINEAR VELOCITY
Thus, î × ˆj is a unit vector. A unit vector
In this section we shall study what is angular
perpendicular to the plane of î and ĵ and velocity and its role in rotational motion. We
related to them by the right hand screw rule is have seen that every particle of a rotating body
moves in a circle. The linear velocity of the
k̂ . Hence, the above result. You may verify particle is related to the angular velocity. The
similarly,
relation between these two quantities involves
ˆj × k
ˆ = î and kˆ × î = ˆj a vector product which we learnt about in the
From the rule for commutation of the cross last section.
product, it follows: Let us go back to Fig. 7.4. As said above, in
rotational motion of a rigid body about a fixed
ˆj × î = − k
ˆ, k
ˆ × ˆj = −î, î × k
ˆ = − ˆj axis, every particle of the body moves in a circle,
Note if î, ˆj, k
ˆ occur cyclically in the above
vector product relation, the vector product is
positive. If î, ˆj, k
ˆ do not occur in cyclic order,
the vector product is negative.
Now,
a × b = (a x î + a y ˆj + a z k
ˆ ) × (b î + b ˆj + b k
x y
ˆ
z )
ˆ − a b ˆj − a b k
= a x by k ˆ + a b î + a b ˆj − a b î
x z y x y z z x z y
= (a yb z − a zby )i + (a zb x − a x b z ) j + (a x by − a yb x )k
We have used the elementary cross products
in obtaining the above relation. The expression
for a × b can be put in a determinant form
which is easy to remember.
î ˆj ˆ
k
a × b = ax ay az
bx by bz
 Example 7.4 Find the scalar and vector Fig. 7.16 Rotation about a fixed axis. (A particle (P)
of the rigid body rotating about the fixed
products of two vectors. a = (3î – 4ĵ + 5k̂ )
ˆ ) (z-) axis moves in a circle with centre (C)
and b = (– 2î + ĵ – 3k on the axis.)
Answer which lies in a plane perpendicular to the axis

and has its centre on the axis. In Fig. 7.16 we
a  b = (3î − 4 ˆj + 5k
ˆ )( −2î + ˆj − 3k
ˆ)
redraw Fig. 7.4, showing a typical particle (at a
= −6 − 4 − 15 point P) of the rigid body rotating about a fixed
= −25 axis (taken as the z-axis). The particle describes
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a circle with a centre C on the axis. The radius and points out in the direction in which a right
of the circle is r, the perpendicular distance of handed screw would advance, if the head of the
the point P from the axis. We also show the screw is rotated with the body. (See Fig. 7.17a).
linear velocity vector v of the particle at P. It is The magnitude of this vector is ω = dθ dt
along the tangent at P to the circle.
referred as above.
Let P′ be the position of the particle after an
interval of time ∆t (Fig. 7.16). The angle PCP′
describes the angular displacement ∆θ of the
particle in time ∆t. The average angular velocity
of the particle over the interval ∆t is ∆θ/∆t. As
∆t tends to zero (i.e. takes smaller and smaller
values), the ratio ∆θ/∆t approaches a limit which
is the instantaneous angular velocity dθ/dt of
the particle at the position P. We denote the
instantaneous angular velocity by ω (the
Greek letter omega). We know from our study Fig. 7.17 (a) If the head of a right handed screw
of circular motion that the magnitude of linear rotates with the body, the screw
velocity v of a particle moving in a circle is advances in the direction of the angular
related to the angular velocity of the particle ω velocity ω. If the sense (clockwise or
by the simple relation υ = ω r , where r is the anticlockwise) of rotation of the body
radius of the circle. changes, so does the direction of ω.
We observe that at any given instant the
relation v = ω r applies to all particles of the
rigid body. Thus for a particle at a perpendicular
distance ri from the fixed axis, the linear velocity
at a given instant vi is given by
vi = ω ri (7.19)
The index i runs from 1 to n, where n is the
total number of particles of the body.
For particles on the axis, r = 0 , and hence
v = ω r = 0. Thus, particles on the axis are
stationary. This verifies that the axis is fixed.
Note that we use the same angular velocity
ω for all the particles. We therefore, refer to ω
as the angular velocity of the whole body.
We have characterised pure translation of Fig. 7.17 (b) The angular velocity vector ω is
a body by all parts of the body having the same directed along the fixed axis as shown.
velocity at any instant of time. Similarly, we The linear velocity of the particle at P
may characterise pure rotation by all parts of is v = ω × r. It is perpendicular to both
the body having the same angular velocity at ω and r and is directed along the
tangent to the circle described by the
any instant of time. Note that this
particle.
characterisation of the rotation of a rigid body
about a fixed axis is just another way of saying We shall now look at what the vector product
as in Sec. 7.1 that each particle of the body moves ω × r corresponds to. Refer to Fig. 7.17(b) which
in a circle, which lies in a plane perpendicular is a part of Fig. 7.16 reproduced to show the
to the axis and has the centre on the axis. path of the particle P. The figure shows the
In our discussion so far the angular velocity vector ω directed along the fixed (z–) axis and
appears to be a scalar. In fact, it is a vector. We also the position vector r = OP of the particle
shall not justify this fact, but we shall accept at P of the rigid body with respect to the origin
it. For rotation about a fixed axis, the angular O. Note that the origin is chosen to be on the
velocity vector lies along the axis of rotation, axis of rotation.
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154 PHYSICS
Now ω × r = ω × OP = ω × (OC + CP) If the axis of rotation is fixed, the direction

But ω × OC = 0 as ω is along OC of ω and hence, that of α is fixed. In this case
the vector equation reduces to a scalar equation
Hence ω × r = ω × CP
dω
α= (7.22)
The vector ω × CP is perpendicular to ω, i.e. dt
to the z-axis and also to CP, the radius of the
circle described by the particle at P. It is 7.7 TORQUE AND ANGULAR MOMENTUM
therefore, along the tangent to the circle at P.
In this section, we shall acquaint ourselves with
Also, the magnitude of ω × CP is ω (CP) since
two physical quantities (torque and angular
ω and CP are perpendicular to each other. We momentum) which are defined as vector products
shall denote CP by r⊥ and not by r, as we did of two vectors. These as we shall see, are
earlier. especially important in the discussion of motion
Thus, ω × r is a vector of magnitude ω r⊥ of systems of particles, particularly rigid bodies.
and is along the tangent to the circle described
by the particle at P. The linear velocity vector v 7.7.1 Moment of force (Torque)
at P has the same magnitude and direction.
We have learnt that the motion of a rigid body,
Thus,
in general, is a combination of rotation and
v =ω × r (7.20)
translation. If the body is fixed at a point or along
In fact, the relation, Eq. (7.20), holds good
a line, it has only rotational motion. We know
even for rotation of a rigid body with one point
fixed, such as the rotation of the top [Fig. 7.6(a)]. that force is needed to change the translational
In this case r represents the position vector of state of a body, i.e. to produce linear
the particle with respect to the fixed point taken acceleration. We may then ask, what is the
as the origin. analogue of force in the case of rotational
We note that for rotation about a fixed motion? To look into the question in a concrete
axis, the direction of the vector ω does not situation let us take the example of opening or
change with time. Its magnitude may, closing of a door. A door is a rigid body which
however, change from instant to instant. For
can rotate about a fixed vertical axis passing
the more general rotation, both the
magnitude and the direction of ω may change through the hinges. What makes the door
from instant to instant. rotate? It is clear that unless a force is applied
the door does not rotate. But any force does not
7.6.1 Angular acceleration
do the job. A force applied to the hinge line
You may have noticed that we are developing cannot produce any rotation at all, whereas a
the study of rotational motion along the lines force of given magnitude applied at right angles
of the study of translational motion with which to the door at its outer edge is most effective in
we are already familiar. Analogous to the kinetic producing rotation. It is not the force alone, but
variables of linear displacement (s) and velocity how and where the force is applied is important
(v) in translational motion, we have angular in rotational motion.
displacement (θ ω) in
θ ) and angular velocity (ω The rotational analogue of force in linear
rotational motion. It is then natural to define motion is moment of force. It is also referred to
in rotational motion the concept of angular as torque or couple. (We shall use the words
acceleration in analogy with linear acceleration moment of force and torque interchangeably.)
defined as the time rate of change of velocity in We shall first define the moment of force for the
translational motion. We define angular special case of a single particle. Later on we
acceleration α as the time rate of change of
shall extend the concept to systems of particles
angular velocity; Thus,
including rigid bodies. We shall also relate it to
dω a change in the state of rotational motion, i.e. is
α= (7.21)
dt angular acceleration of a rigid body.
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of the line of action of F from the origin and

F⊥ ( = F sin θ ) is the component of F in the
direction perpendicular to r. Note that τ = 0 if
r = 0, F = 0 or θ = 00 or 1800 . Thus, the moment
of a force vanishes if either the magnitude of
the force is zero, or if the line of action of the
force passes through the origin.
One may note that since r × F is a vector
product, properties of a vector product of two
vectors apply to it. If the direction of F is
reversed, the direction of the moment of force
is reversed. If directions of both r and F are
reversed, the direction of the moment of force
remains the same.
7.7.2 Angular momentum of a particle
Just as the moment of a force is the rotational
analogue of force in linear motion, the quantity
angular momentum is the rotational analogue
Fig. 7.18 τ = r × F, τ is perpendicular to the plane of linear momentum. We shall first define
containing r and F, and its direction is angular momentum for the special case of a
given by the right handed screw rule. single particle and look at its usefulness in the
context of single particle motion. We shall then
If a force acts on a single particle at a point extend the definition of angular momentum to
P whose position with respect to the origin O is systems of particles including rigid bodies.
given by the position vector r (Fig. 7.18), the Like moment of a force, angular momentum
moment of the force acting on the particle with is also a vector product. It could also be referred
respect to the origin O is defined as the vector to as moment of (linear) momentum. From this
product term one could guess how angular momentum
τ=r×F (7.23) is defined.
The moment of force (or torque) is a vector Consider a particle of mass m and linear
quantity. The symbol τ stands for the Greek momentum p at a position r relative to the origin
letter tau. The magnitude of τ is O. The angular momentum l of the particle with
τ = r F sinθ (7.24a) respect to the origin O is defined to be
where r is the magnitude of the position vector l=r×p (7.25a)
r, i.e. the length OP, F is the magnitude of force The magnitude of the angular momentum
F and θ is the angle between r and F as vector is
shown. l = r p sin θ (7.26a)
Moment of force has dimensions M L2 T -2. where p is the magnitude of p and θ is the angle
Its dimensions are the same as those of work between r and p. We may write
or energy. It is, however, a very different physical
l = r p ⊥ or r⊥ p (7.26b)
quantity than work. Moment of a force is a
vector, while work is a scalar. The SI unit of where r⊥ (= r sinθ) is the perpendicular distance
moment of force is newton metre (N m). The of the directional line of p from the origin and
magnitude of the moment of force may be
p ⊥ ( = p sin θ ) is the component of p in a direction
written
perpendicular to r. We expect the angular
τ = (r sin θ )F = r⊥ F (7.24b) momentum to be zero (l = 0), if the linear
or τ = r F sin θ = rF⊥ (7.24c) momentum vanishes (p = 0), if the particle is at
the origin (r = 0), or if the directional line of p
where r⊥ = r sinθ is the perpendicular distance passes through the origin θ = 00 or 1800.
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156 PHYSICS
The physical quantities, moment of a force

and angular momentum, have an important An experiment with the bicycle rim
relation between them. It is the rotational
Take a
analogue of the relation between force and linear bicycle rim
momentum. For deriving the relation in the and extend
context of a single particle, we differentiate its axle on
l = r × p with respect to time, both sides.
Tie two
dl d
= (r × p) s t r i n g s
dt dt at both ends
Applying the product rule for differentiation A and B,
to the right hand side, as shown
in the
d dr dp adjoining
(r × p) = ×p+r×
dt dt dt figure. Hold
Now, the velocity of the particle is v = dr/dt both the
and p = m v Initially After s t r i n g s
together in
dr one hand such that the rim is vertical. If you
Because of this × p = v × m v = 0,
dt leave one string, the rim will tilt. Now keeping
as the vector product of two parallel vectors the rim in vertical position with both the strings
in one hand, put the wheel in fast rotation
vanishes. Further, since dp / dt = F,
around the axle with the other hand. Then leave
dp one string, say B, from your hand, and observe
r× = r×F= τ what happens.
dt
The rim keeps rotating in a vertical plane
d and the plane of rotation turns around the
Hence (r × p) = τ string A which you are holding. We say that the
dt
axis of rotation of the rim or equivalently
dl its angular momentum precesses about the
or =τ (7.27) string A.
dt
The rotating rim gives rise to an angular
Thus, the time rate of change of the angular momentum. Determine the direction of this
momentum of a particle is equal to the torque angular momentum. When you are holding the
acting on it. This is the rotational analogue of rotating rim with string A, a torque is generated.
the equation F = dp/dt, which expresses (We leave it to you to find out how the torque is
Newton’s second law for the translational motion generated and what its direction is.) The effect
of a single particle. of the torque on the angular momentum is to
make it precess around an axis perpendicular
Torque and angular momentum for a system to both the angular momentum and the torque.
Verify all these statements.
of particles
To get the total angular momentum of a system
of particles about a given point we need to add particle has mass mi and velocity vi ) We may
vectorially the angular momenta of individual write the total angular momentum of a system
particles. Thus, for a system of n particles, of particles as
n L = ∑ li = ∑ ri × pi
L = l1 + l2 + ... + ln = ∑l i i
(7.25b)
i =1
This is a generalisation of the definition of
The angular momentum of the ith particle angular momentum (Eq. 7.25a) for a single
is given by particle to a system of particles.
li = ri × pi Using Eqs. (7.23) and (7.25b), we get
where ri is the position vector of the ith particle
with respect to a given origin and p = (mivi) is
the linear momentum of the particle. (The
dL
dt
=
d
dt
( ∑ l ) = ∑ ddlt = ∑ τ
i
i
i (7.28a)
i i
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where τ i is the torque acting on the ith particle; Conservation of angular momentum
τ i = ri × Fi If τ ext = 0, Eq. (7.28b) reduces to
The force Fi on the ith particle is the vector
dL
=0
sum of external forces Fiext acting on the particle dt
or L = constant. (7.29a)
and the internal forces Fiint exerted on it by the
Thus, if the total external torque on a system
other particles of the system. We may therefore of particles is zero, then the total angular
separate the contribution of the external and momentum of the system is conserved, i.e.
the internal forces to the total torque remains constant. Eq. (7.29a) is equivalent to
τ= ∑ τ i = ∑ ri × Fi as
three scalar equations,
Lx = K1, Ly = K2 and Lz = K3 (7.29 b)
i i
Here K1, K2 and K3 are constants; Lx, Ly and
τ = τ ext + τ int ,
Lz are the components of the total angular
where τ ext = ∑ ri × Fi ext momentum vector L along the x,y and z axes
respectively. The statement that the total
i
angular momentum is conserved means that
and τ int = ∑ ri × Fiint each of these three components is conserved.
i
Eq. (7.29a) is the rotational analogue of
We shall assume not only Newton’s third law
Eq. (7.18a), i.e. the conservation law of the total
of motion, i.e. the forces between any two particles linear momentum for a system of particles.
of the system are equal and opposite, but also that Like Eq. (7.18a), it has applications in many
these forces are directed along the line joining the practical situations. We shall look at a few of
two particles. In this case the contribution of the the interesting applications later on in this
internal forces to the total torque on the system is chapter.
zero, since the torque resulting from each action-
reaction pair of forces is zero. We thus have, τint =  Example 7.5 Find the torque of a force
0 and therefore τ = τext. 7î + 3ĵ – 5k̂ about the origin. The force
Since τ = ∑ τ i , it follows from Eq. (7.28a) acts on a particle whose position vector is
î – ĵ + ˆk .
that
dL Answer Here r = î − ˆj + k
ˆ
= τ ext (7.28 b)
dt
Thus, the time rate of the total angular and F = 7î + 3ˆj − 5k
ˆ.
momentum of a system of particles about a We shall use the determinant rule to find the
point (taken as the origin of our frame of torque τ = r × F
reference) is equal to the sum of the external
torques (i.e. the torques due to external forces)
acting on the system taken about the same
point. Eq. (7.28 b) is the generalisation of the
single particle case of Eq. (7.23) to a system of
particles. Note that when we have only one
particle, there are no internal forces or torques.
or τ = 2î + 12 ˆj + 10k
ˆ 
Eq.(7.28 b) is the rotational analogue of
dP
= Fext (7.17)
dt  Example 7.6 Show that the angular
Note that like Eq.(7.17), Eq.(7.28b) holds momentum about any point of a single
good for any system of particles, whether it is a particle moving with constant velocity
rigid body or its individual particles have all remains constant throughout the motion.
kinds of internal motion.
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158 PHYSICS
Answer Let the particle with velocity v be at acceleration nor angular acceleration. This
point P at some instant t. We want to calculate means
the angular momentum of the particle about an (1) the total force, i.e. the vector sum of the
arbitrary point O. forces, on the rigid body is zero;
n
F1 + F2 + ... + Fn = ∑F i =0 (7.30a)
i =1
If the total force on the body is zero, then

the total linear momentum of the body does
not change with time. Eq. (7.30a) gives the
condition for the translational equilibrium
of the body.
(2) The total torque, i.e. the vector sum of the
torques on the rigid body is zero,
n
Fig 7.19 τ1 + τ 2 + ... + τ n = ∑τ i =0 (7.30b)
i =1
The angular momentum is l = r × mv. Its
If the total torque on the rigid body is zero,
magnitude is mvr sinθ , where θ is the angle
the total angular momentum of the body does
between r and v as shown in Fig. 7.19. Although
the particle changes position with time, the line not change with time. Eq. (7.30 b) gives the
of direction of v remains the same and hence condition for the rotational equilibrium of the
OM = r sin θ. is a constant. body.
Further, the direction of l is perpendicular One may raise a question, whether the
to the plane of r and v. It is into the page of the rotational equilibrium condition [Eq. 7.30(b)]
figure.This direction does not change with time. remains valid, if the origin with respect to which
Thus, l remains the same in magnitude and the torques are taken is shifted. One can show
direction and is therefore conserved. Is there that if the translational equilibrium condition
any external torque on the particle?  [Eq. 7.30(a)] holds for a rigid body, then such a
shift of origin does not matter, i.e. the rotational
7.8 EQUILIBRIUM OF A RIGID BODY equilibrium condition is independent of the
We are now going to concentrate on the motion location of the origin about which the torques
of rigid bodies rather than on the motion of are taken. Example 7.7 gives a proof of this
general systems of particles. result in a special case of a couple, i.e. two forces
We shall recapitulate what effect the acting on a rigid body in translational
external forces have on a rigid body. (Henceforth equilibrium. The generalisation of this result to
we shall omit the adjective ‘external’ because n forces is left as an exercise.
unless stated otherwise, we shall deal with only Eq. (7.30a) and Eq. (7.30b), both, are vector
external forces and torques.) The forces change equations. They are equivalent to three scalar
the translational state of the motion of the rigid equations each. Eq. (7.30a) corresponds to
body, i.e. they change its total linear momentum n n n
in accordance with Eq. (7.17). But this is not ∑ Fix =0, ∑ Fiy = 0 and ∑ Fiz = 0 (7.31a)
the only effect the forces have. The total torque i =1 i =1 i =1
on the body may not vanish. Such a torque where Fix, Fiy and Fiz are respectively the x, y
changes the rotational state of motion of the and z components of the forces Fi. Similarly,
rigid body, i.e. it changes the total angular Eq. (7.30b) is equivalent to three scalar
momentum of the body in accordance with Eq. equations
(7.28 b). n n n
A rigid body is said to be in mechanical ∑ τix = 0, ∑ τiy = 0 and ∑ τiz = 0 (7.31b)
equilibrium, if both its linear momentum and i =1 i =1 i =1
angular momentum are not changing with time, where τix, τiy and τiz are respectively the x, y and
or equivalently, the body has neither linear z components of the torque τ i .
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Eq. (7.31a) and (7.31b) give six independent

conditions to be satisfied for mechanical
equilibrium of a rigid body. In a number of
problems all the forces acting on the body are
coplanar. Then we need only three conditions
to be satisfied for mechanical equilibrium. Two
of these conditions correspond to translational
equilibrium; the sum of the components of the Fig. 7.20 (b)
forces along any two perpendicular axes in the
plane must be zero. The third condition The force at B in Fig. 7.20(a) is reversed in
corresponds to rotational equilibrium. The sum Fig. 7.20(b). Thus, we have the same rod with
of the components of the torques along any axis two forces of equal magnitude but acting in
perpendicular to the plane of the forces must opposite diretions applied perpendicular to the
be zero. rod, one at end A and the other at end B. Here
The conditions of equilibrium of a rigid body the moments of both the forces are equal, but
may be compared with those for a particle, they are not opposite; they act in the same sense
and cause anticlockwise rotation of the rod. The
which we considered in earlier chapters. Since
total force on the body is zero; so the body is in
consideration of rotational motion does not
translational equilibrium; but it is not in
apply to a particle, only the conditions for
rotational equilibrium. Although the rod is not
translational equilibrium (Eq. 7.30 a) apply to
fixed in any way, it undergoes pure rotation (i.e.
a particle. Thus, for equilibrium of a particle rotation without translation).
the vector sum of all the forces on it must be A pair of forces of equal magnitude but acting
zero. Since all these forces act on the single in opposite directions with different lines of
particle, they must be concurrent. Equilibrium action is known as a couple or torque. A couple
under concurrent forces was discussed in the produces rotation without translation.
earlier chapters. When we open the lid of a bottle by turning
A body may be in partial equilibrium, i.e., it it, our fingers are applying a couple to the lid
may be in translational equilibrium and not in [Fig. 7.21(a)]. Another known example is a
rotational equilibrium, or it may be in rotational compass needle in the earth’s magnetic field as
equilibrium and not in translational shown in the Fig. 7.21(b). The earth’s magnetic
equilibrium. field exerts equal forces on the north and south
Consider a light (i.e. of negligible mass) rod poles. The force on the North Pole is towards
(AB) as shown in Fig. 7.20(a). At the two ends (A the north, and the force on the South Pole is
and B) of which two parallel forces, both equal toward the south. Except when the needle points
in magnitude and acting along same direction in the north-south direction; the two forces do
are applied perpendicular to the rod. not have the same line of action. Thus there is
a couple acting on the needle due to the earth’s
magnetic field.
Fig. 7.20 (a)
Let C be the midpoint of AB, CA = CB = a.

the moment of the forces at A and B will both
be equal in magnitude (aF ), but opposite in
sense as shown. The net moment on the rod will
be zero. The system will be in rotational
equilibrium, but it will not be in translational
Fig. 7.21(a) Our fingers apply a couple to turn
equilibrium; ∑F ≠ 0 the lid.
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160 PHYSICS
length. This point is called the fulcrum. A see-

saw on the children’s playground is a typical
example of a lever. Two forces F1 and F2, parallel
to each other and usually perpendicular to the
lever, as shown here, act on the lever at
distances d 1 and d 2 respectively from the
fulcrum as shown in Fig. 7.23.
Fig. 7.21(b) The Earth’s magnetic field exerts equal

and opposite forces on the poles of a Fig. 7.23
compass needle. These two forces form
a couple. The lever is a system in mechanical
equilibrium. Let R be the reaction of the support
 Example 7.7 Show that moment of a at the fulcrum; R is directed opposite to the
couple does not depend on the point about forces F1 and F2. For translational equilibrium,
which you take the moments.
R – F1 – F2 = 0 (i)
Answer
For considering rotational equilibrium we
take the moments about the fulcrum; the sum
of moments must be zero,
d 1 F 1 – d2 F 2 = 0 (ii)
Normally the anticlockwise (clockwise)
moments are taken to be positive (negative). Note
R acts at the fulcrum itself and has zero moment
Fig. 7.22 about the fulcrum.
In the case of the lever force F1 is usually
Consider a couple as shown in Fig. 7.22 some weight to be lifted. It is called the load
acting on a rigid body. The forces F and -F act and its distance from the fulcrum d1 is called
respectively at points B and A. These points have the load arm. Force F2 is the effort applied to lift
position vectors r1 and r2 with respect to origin the load; distance d 2 of the effort from the
O. Let us take the moments of the forces about fulcrum is the effort arm.
the origin. Eq. (ii) can be written as
The moment of the couple = sum of the d 1F 1 = d 2 F 2 (7.32a)
moments of the two forces making the couple or load arm × load = effort arm × effort
= r1 × (–F) + r2 × F The above equation expresses the principle
= r2 × F – r1 × F of moments for a lever. Incidentally the ratio
= (r2–r1) × F F1/F2 is called the Mechanical Advantage (M.A.);
But r1 + AB = r2, and hence AB = r2 – r1. F1 d 2
The moment of the couple, therefore, is M.A. = F = d (7.32b)
AB × F. 2 1
Clearly this is independent of the origin, the If the effort arm d2 is larger than the load
point about which we took the moments of the arm, the mechanical advantage is greater than
forces.  one. Mechanical advantage greater than one
means that a small effort can be used to lift a
7.8.1 Principle of moments large load. There are several examples of a lever
An ideal lever is essentially a light (i.e. of around you besides the see-saw. The beam of a
negligible mass) rod pivoted at a point along its balance is a lever. Try to find more such
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examples and identify the fulcrum, the effort and

effort arm, and the load and the load arm of the The CG of the cardboard is so located that
lever in each case. the total torque on it due to the forces m1g, m2g
You may easily show that the principle of …. etc. is zero.
moment holds even when the parallel forces F1 If ri is the position vector of the ith particle
and F2 are not perpendicular, but act at some of an extended body with respect to its CG, then
angle, to the lever. the torque about the CG, due to the force of
gravity on the particle is τ i = ri × mi g. The total
7.8.2 Centre of gravity gravitational torque about the CG is zero, i.e.
Many of you may have the experience of τ g = ∑ τi = ∑r i × mi g = 0 (7.33)
balancing your notebook on the tip of a finger. We may therefore, define the CG of a body
Figure 7.24 illustrates a similar experiment that as that point where the total gravitational torque
you can easily perform. Take an irregular- on the body is zero.
shaped cardboard having mass M and a narrow We notice that in Eq. (7.33), g is the same
tipped object like a pencil. You can locate by trial for all particles, and hence it comes out of the
and error a point G on the cardboard where it summation. This gives, since g is non-zero,
can be balanced on the tip of the pencil. (The
cardboard remains horizontal in this position.) ∑m r i i = 0. Remember that the position vectors
This point of balance is the centre of gravity (CG) (ri) are taken with respect to the CG. Now, in
of the cardboard. The tip of the pencil provides accordance with the reasoning given below
a vertically upward force due to which the Eq. (7.4a) in Sec. 7.2, if the sum is zero, the origin
cardboard is in mechanical equilibrium. As must be the centre of mass of the body. Thus,
shown in the Fig. 7.24, the reaction of the tip is the centre of gravity of the body coincides with
equal and opposite to Mg and hence the the centre of mass in uniform gravity or gravity-
cardboard is in translational equilibrium. It is free space. We note that this is true because
also in rotational equilibrium; if it were not so, the body being small, g does not
due to the unbalanced torque it would tilt and
fall. There are torques on the card board due to
the forces of gravity like m1g, m2g …. etc, acting
on the individual particles that make up the
cardboard.
Fig. 7.25 Determining the centre of gravity of a body

Fig. 7.24 Balancing a cardboard on the tip of a
of irregular shape. The centre of gravity G
pencil. The point of support, G, is the
lies on the vertical AA1 through the point
centre of gravity.
of suspension of the body A.
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162 PHYSICS
vary from one point of the body to the other. If 4.00 kg and W1= suspended load = 6.00 kg;
the body is so extended that g varies from part R 1 and R 2 are the normal reactions of the
to part of the body, then the centre of gravity support at the knife edges.
and centre of mass will not coincide. Basically, For translational equilibrium of the rod,
the two are different concepts. The centre of R1+R2 –W1 –W = 0 (i)
mass has nothing to do with gravity. It depends Note W1 and W act vertically down and R1
only on the distribution of mass of the body. and R2 act vertically up.
In Sec. 7.2 we found out the position of the For considering rotational equilibrium, we
centre of mass of several regular, homogeneous take moments of the forces. A convenient point
objects. Obviously the method used there gives to take moments about is G. The moments of
us also the centre of gravity of these bodies, if R2 and W1 are anticlockwise (+ve), whereas the
they are small enough. moment of R1 is clockwise (-ve).
Figure 7.25 illustrates another way of For rotational equilibrium,
determining the CG of an irregular shaped body –R1 (K1G) + W1 (PG) + R2 (K2G) = 0 (ii)
like a cardboard. If you suspend the body from It is given that W = 4.00g N and W1 = 6.00g
some point like A, the vertical line through A N, where g = acceleration due to gravity. We
passes through the CG. We mark the vertical take g = 9.8 m/s2.
AA1. We then suspend the body through other With numerical values inserted, from (i)
points like B and C. The intersection of the R1 + R2 – 4.00g – 6.00g = 0
verticals gives the CG. Explain why the method or R1 + R2 = 10.00g N (iii)
works. Since the body is small enough, the = 98.00 N
method allows us to determine also its centre From (ii), – 0.25 R1 + 0.05 W1 + 0.25 R2 = 0
of mass. or R1 – R2 = 1.2g N = 11.76 N (iv)
From (iii) and (iv), R1 = 54.88 N,
 Example 7.8 A metal bar 70 cm long R2 = 43.12 N
and 4.00 kg in mass supported on two Thus the reactions of the support are about
knife-edges placed 10 cm from each end. 55 N at K1 and 43 N at K2. 
A 6.00 kg load is suspended at 30 cm from
one end. Find the reactions at the knife-  Example 7.9 A 3m long ladder weighing
edges. (Assume the bar to be of uniform 20 kg leans on a frictionless wall. Its feet
cross section and homogeneous.) rest on the floor 1 m from the wall as shown
in Fig.7.27. Find the reaction forces of the
Answer wall and the floor.
Answer
Fig. 7.26
Figure 7.26 shows the rod AB, the positions

of the knife edges K1 and K2 , the centre of
gravity of the rod at G and the suspended load
at P.
Note the weight of the rod W acts at its
centre of gravity G. The rod is uniform in cross
section and homogeneous; hence G is at the
centre of the rod; AB = 70 cm. AG = 35 cm, AP Fig. 7.27
= 30 cm, PG = 5 cm, AK1= BK2 = 10 cm and K1G The ladder AB is 3 m long, its foot A is at
= K2G = 25 cm. Also, W= weight of the rod = distance AC = 1 m from the wall. From
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Pythagoras theorem, BC = 2 2 m. The forces linear velocity is υi = ri ω . The kinetic energy of

on the ladder are its weight W acting at its centre motion of this particle is
of gravity D, reaction forces F1 and F2 of the wall 1 1
and the floor respectively. Force F 1 is ki = m iυi2 = m i ri2ω 2
2 2
perpendicular to the wall, since the wall is
frictionless. Force F2 is resolved into two where mi is the mass of the particle. The total
components, the normal reaction N and the kinetic energy K of the body is then given by
force of friction F. Note that F prevents the ladder the sum of the kinetic energies of individual
from sliding away from the wall and is therefore particles,
directed toward the wall. n
1 n
K =  ki =  (m i ri2ω 2 )
For translational equilibrium, taking the i =1 2 i =1
forces in the vertical direction, Here n is the number of particles in the body.
N–W=0 (i) Note ω is the same for all particles. Hence, taking
Taking the forces in the horizontal direction, ω out of the sum,
F – F1 = 0 (ii) 1 n
K = ω 2 (  m i ri2 )
For rotational equilibrium, taking the 2 i =1
moments of the forces about A,
We define a new parameter characterising
2 2 F1 − (1/2) W = 0 (iii) the rigid body, called the moment of inertia I ,
given by
n
Now W = 20 g = 20 × 9.8 N = 196.0 N I =  m i ri2 (7.34)
From (i) N = 196.0 N i =1
With this definition,

From (iii) F1 = W 4 2 = 196.0 / 4 2 = 34.6 N
1 2
From (ii) F = F1 = 34.6 N K= Iω (7.35)
2
Note that the parameter I is independent of
F2 = F 2 + N 2 = 199.0 N the magnitude of the angular velocity. It is a
The force F2 makes an angle α with the characteristic of the rigid body and the axis
horizontal, about which it rotates.
Compare Eq. (7.35) for the kinetic energy of
tan α = N F = 4 2 , α = tan −1(4 2) ≈ 80  a rotating body with the expression for the
kinetic energy of a body in linear (translational)
7.9 MOMENT OF INERTIA motion,
We have already mentioned that we are 1
K= m υ2
developing the study of rotational motion 2
parallel to the study of translational motion with Here, m is the mass of the body and v is its
which we are familiar. We have yet to answer velocity. We have already noted the analogy
one major question in this connection. What is between angular velocity ω (in respect of rotational
the analogue of mass in rotational motion? motion about a fixed axis) and linear velocity v (in
We shall attempt to answer this question in the respect of linear motion). It is then evident that
the parameter, moment of inertia I, is the desired
present section. To keep the discussion simple,
rotational analogue of mass in linear motion. In
we shall consider rotation about a fixed axis
rotation (about a fixed axis), the moment of inertia
only. Let us try to get an expression for the plays a similar role as mass does in linear motion.
kinetic energy of a rotating body. We know We now apply the definition Eq. (7.34), to
that for a body rotating about a fixed axis, each calculate the moment of inertia in two simple
particle of the body moves in a circle with linear cases.
velocity given by Eq. (7.19). (Refer to Fig. 7.16). (a) Consider a thin ring of radius R and mass
For a particle at a distance from the axis, the M, rotating in its own plane around its centre
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164 PHYSICS
with angular velocity ω. Each mass element with respect to the body as a whole. As a
of the ring is at a distance R from the axis, measure of the way in which the mass of a
and moves with a speed Rω. The kinetic rotating rigid body is distributed with respect to
energy is therefore, the axis of rotation, we can define a new
1 1 parameter, the radius of gyration. It is related
K= Mυ 2 = MR 2ω 2 to the moment of inertia and the total mass of
2 2
Comparing with Eq. (7.35) we get I = MR 2 the body.
for the ring. Notice from the Table 7.1 that in all
cases, we can write I = Mk 2, where k has
the dimension of length. For a rod, about
the perpendicular axis at its midpoint,
k 2 = L2 12 , i.e. k = L 12 . Similarly, k = R/2
for the circular disc about its diameter. The
length k is a geometric property of the body and
axis of rotation. It is called the radius of
gyration. The radius of gyration of a body
about an axis may be defined as the distance
from the axis of a mass point whose mass is
Fig. 7.28 A light rod of length l with a pair of masses equal to the mass of the whole body and whose
rotating about an axis through the centre of moment of inertia is equal to the moment of
mass of the system and perpendicular to inertia of the body about the axis.
the rod. The total mass of the system is M.
Thus, the moment of inertia of a rigid body
(b) Next, take a rigid rod of negligible mass of
depends on the mass of the body, its shape and
length of length l with a pair of small masses,
size; distribution of mass about the axis of
rotating about an axis through the centre of
rotation, and the position and orientation of the
mass perpendicular to the rod (Fig. 7.28).
axis of rotation.
Each mass M/2 is at a distance l/2 from the
axis. The moment of inertia of the masses is From the definition, Eq. (7.34), we can infer
therefore given by that the dimensions of moments of inertia are
(M/2) (l/2)2 + (M/2)(l/2)2 ML2 and its SI units are kg m2.
Thus, for the pair of masses, rotating about The property of this extremely important
the axis through the centre of mass quantity I, as a measure of rotational inertia of
perpendicular to the rod the body, has been put to a great practical use.
I = Ml 2 / 4 The machines, such as steam engine and the
Table 7.1 simply gives the moment of inertia of automobile engine, etc., that produce rotational
various familiar regular shaped bodies about motion have a disc with a large moment of
specific axes. (The derivations of these inertia, called a flywheel. Because of its large
expressions are beyond the scope of this textbook moment of inertia, the flywheel resists the
and you will study them in higher classes.) sudden increase or decrease of the speed of the
As the mass of a body resists a change in its vehicle. It allows a gradual change in the speed
state of linear motion, it is a measure of its inertia and prevents jerky motions, thereby ensuring
in linear motion. Similarly, as the moment of a smooth ride for the passengers on the vehicle.
inertia about a given axis of rotation resists a
change in its rotational motion, it can be 7.10 THEOREMS OF PERPENDICULAR AND
regarded as a measure of rotational inertia of PARALLEL AXES
the body; it is a measure of the way in which
different parts of the body are distributed at These are two useful theorems relating to
different distances from the axis. Unlike the moment of inertia. We shall first discuss the
mass of a body, the moment of inertia is not a theorem of perpendicular axes and its simple
fixed quantity but depends on distribution of yet instructive application in working out the
mass about the axis of rotation, and the moments of inertia of some regular-shaped
orientation and position of the axis of rotation bodies.
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Table 7.1 Moments of inertia of some regular shaped bodies about specific axes
Z Body Axis Figure I
(1) Thin circular Perpendicular to M R2

ring, radius R plane, at centre
(2) Thin circular Diameter M R2/2

ring, radius R
(3) Thin rod, Perpendicular to M L2/12

length L rod, at mid point
(4) Circular disc, Perpendicular to M R2/2

radius R disc at centre
(5) Circular disc, Diameter M R2/4

radius R
(6) Hollow cylinder, Axis of cylinder M R2

radius R
(7) Solid cylinder, Axis of cylinder M R2/2

radius R
(8) Solid sphere, Diameter 2 M R2/5

radius R
Theorem of perpendicular axes the theorem. It states that the moment of

inertia of a planar body (lamina) about an axis
This theorem is applicable to bodies which are perpendicular to its plane is equal to the sum
planar. In practice this means the theorem of its moments of inertia about two
applies to flat bodies whose thickness is very perpendicular axes concurrent with
small compared to their other dimensions (e.g. perpendicular axis and lying in the plane of
length, breadth or radius). Fig. 7.29 illustrates the body.
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166 PHYSICS
Answer We assume the moment of inertia of

the disc about an axis perpendicular to it and
through its centre to be known; it is MR2/2,
where M is the mass of the disc and R is its
radius (Table 7.1)
The disc can be considered to be a planar
body. Hence the theorem of perpendicular axes
is applicable to it. As shown in Fig. 7.30, we
take three concurrent axes through the centre
of the disc, O, as the x–, y– and z–axes; x– and
y–axes lie in the plane of the disc and z–axis is
perpendicular to it. By the theorem of
perpendicular axes,
Iz = Ix + Iy
Fig. 7.29 Theorem of perpendicular axes
applicable to a planar body; x and y axes Now, x and y axes are along two diameters
are two perpendicular axes in the plane of the disc, and by symmetry the moment of
and the z-axis is perpendicular to the inertia of the disc is the same about any
plane. diameter. Hence
Ix = Iy
The figure shows a planar body. An axis
and Iz = 2Ix
perpendicular to the body through a point O is
But Iz = MR2/2
taken as the z-axis. Two mutually perpendicular
axes lying in the plane of the body and So finally, Ix = Iz/2 = MR2/4
concurrent with z-axis, i.e., passing through O, Thus the moment of inertia of a disc about
are taken as the x and y-axes. The theorem any of its diameter is MR2/4 . 
states that
Find similarly the moment of inertia of a
Iz = Ix + Iy (7.36) ring about any of its diameters. Will the theorem
Let us look at the usefulness of the theorem be applicable to a solid cylinder?
through an example.
 Example 7.10 What is the moment of

inertia of a disc about one of its diameters?
Fig.7.31 The theorem of parallel axes The z and z′

Fig. 7.30 Moment of inertia of a disc about a axes are two parallel axes separated by a
diameter, given its moment of inertia about distance a; O is the centre of mass of the
the perpendicular axis through its centre. body, OO’ = a.
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7.10.1 Theorem of parallel axes The distance between these two parallel axes is
R, the radius of the ring. Using the parallel axes
This theorem is applicable to a body of any
theorem,
shape. It allows to find the moment of inertia of
a body about any axis, given the moment of
inertia of the body about a parallel axis through
the centre of mass of the body. We shall only
state this theorem and not give its proof. We
shall, however, apply it to a few simple situations
which will be enough to convince us about the
usefulness of the theorem. The theorem may
be stated as follows:
The moment of inertia of a body about any
axis is equal to the sum of the moment of
inertia of the body about a parallel axis passing
through its centre of mass and the product of
Fig. 7.32
its mass and the square of the distance
between the two parallel axes. As shown in
the Fig. 7.31, z and z′ are two parallel axes, MR 2 3
I tangent = I dia + MR 2 = + MR 2 = MR 2 . 
separated by a distance a. The z-axis passes 2 2
through the centre of mass O of the rigid body.
Then according to the theorem of parallel axes 7.11 KINEMATICS OF ROTATIONAL MOTION
Iz′ = Iz + Ma2 (7.37) ABOUT A FIXED AXIS
where Iz and Iz′ are the moments of inertia of the
body about the z and z′ axes respectively, M is the We have already indicated the analogy between
total mass of the body and a is the perpendicular rotational motion and translational motion. For
distance between the two parallel axes. example, the angular velocity ω plays the same
role in rotation as the linear velocity v in
 Example 7.11 What is the moment of translation. We wish to take this analogy
inertia of a rod of mass M, length l about further. In doing so we shall restrict the
an axis perpendicular to it through one discussion only to rotation about fixed axis. This
end? case of motion involves only one degree of
freedom, i.e., needs only one independent
Answer For the rod of mass M and length l, variable to describe the motion. This in
I = Ml2/12. Using the parallel axes theorem, translation corresponds to linear motion. This
I′ = I + Ma2 with a = l/2 we get, section is limited only to kinematics. We shall
2
l2 l  Ml 2 turn to dynamics in later sections.
I′ = M +M  =
12 2 3 We recall that for specifying the angular
displacement of the rotating body we take any
We can check this independently since I is
particle like P (Fig.7.33) of the body. Its angular
half the moment of inertia of a rod of mass 2M
displacement θ in the plane it moves is the
and length 2l about its midpoint,
angular displacement of the whole body; θ is
4l 2 1 Ml 2 measured from a fixed direction in the plane of
I ′ = 2M . × = 
12 2 3 motion of P, which we take to be the x′-axis,
chosen parallel to the x-axis. Note, as shown,
 Example 7.12 What is the moment of the axis of rotation is the z – axis and the plane
inertia of a ring about a tangent to the of the motion of the particle is the x - y plane.
circle of the ring? Fig. 7.33 also shows θ 0 , the angular
displacement at t = 0.
Answer We also recall that the angular velocity is
The tangent to the ring in the plane of the ring the time rate of change of angular displacement,
is parallel to one of the diameters of the ring. ω = dθ/dt. Note since the axis of rotation is fixed,
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168 PHYSICS
there is no need to treat angular velocity as a

 Example 7.13 Obtain Eq. (7.38) from first
vector. Further, the angular acceleration, α =
principles.
dω/dt.
The kinematical quantities in rotational Answer The angular acceleration is uniform,
motion, angular displacement ( θ ), angular hence
velocity ( ω ) and angular acceleration ( α )
respectively are analogous to kinematic dω
= α = constant (i)
quantities in linear motion, displacement (x ), dt
velocity (v) and acceleration (a). We know the Integrating this equation,
kinematical equations of linear motion with
uniform (i.e. constant) acceleration: ω = ∫ α dt + c
v = v0 + at (a)
= α t + c (as α is constant)
1 At t = 0, ω = ω0 (given)
x = x 0 + υ0t + at 2 (b)
2 From (i) we get at t = 0, ω = c = ω0
Thus, ω = αt + ω0 as required.
υ 2 = υ02 + 2ax (c)
With the definition of ω = dθ/dt we may
where x0 = initial displacement and v0= initial integrate Eq. (7.38) to get Eq. (7.39). This
velocity. The word ‘initial’ refers to values of the derivation and the derivation of Eq. (7.40) is
quantities at t = 0
left as an exercise.
The corresponding kinematic equations for
rotational motion with uniform angular
acceleration are:  Example 7.14 The angular speed of a
motor wheel is increased from 1200 rpm
ω = ω0 + αt (7.38) to 3120 rpm in 16 seconds. (i) What is its
1 2 angular acceleration, assuming the
θ = θ0 + ω 0t + αt (7.39) acceleration to be uniform? (ii) How many
2
revolutions does the engine make during
and ω 2 = ω02 + 2α (θ – θ0 ) (7.40) this time?
where θ0= initial angular displacement of the Answer
rotating body, and ω0 = initial angular velocity (i) We shall use ω = ω0 + αt
of the body.
ω0 = initial angular speed in rad/s
= 2π × angular speed in rev/s
2π × angular speed in rev/min

=
60 s/min
2π × 1200
= rad/s
60
= 40π rad/s
Similarly ω = final angular speed in rad/s
2π × 3120
= rad/s
60
= 2π × 52 rad/s
= 104 π rad/s
∴ Angular acceleration
Fig.7.33 Specifying the angular position of a rigid ω − ω0

body. α= = 4 π rad/s2
t
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The angular acceleration of the engine (1) We need to consider only those forces that
= 4π rad/s2 lie in planes perpendicular to the axis.
(ii) The angular displacement in time t is Forces which are parallel to the axis will
given by give torques perpendicular to the axis and
need not be taken into account.
1 2
θ = ω0t + αt (2) We need to consider only those components
2 of the position vectors which are
1 perpendicular to the axis. Components of
= (40π × 16 + × 4π × 162 ) rad position vectors along the axis will result in
2
torques perpendicular to the axis and need
= (640π + 512π ) rad not be taken into account.
= 1152π rad
Work done by a torque
1152π
Number of revolutions = = 576 
2π
7.12 DYNAMICS OF ROTATIONAL MOTION
ABOUT A FIXED AXIS
Table 7.2 lists quantities associated with linear
motion and their analogues in rotational motion.
We have already compared kinematics of the
two motions. Also, we know that in rotational
motion moment of inertia and torque play the
same role as mass and force respectively in
linear motion. Given this we should be able to
guess what the other analogues indicated in the Fig. 7.34 Work done by a force F1 acting on a particle
table are. For example, we know that in linear of a body rotating about a fixed axis; the
particle describes a circular path with
motion, work done is given by F dx, in rotational
centre C on the axis; arc P1P′1(ds1) gives
motion about a fixed axis it should be τ dθ , the displacement of the particle.
since we already know the correspondence
Figure 7.34 shows a cross-section of a rigid
d x → dθ and F → τ . It is, however, necessary body rotating about a fixed axis, which is taken
that these correspondences are established on as the z-axis (perpendicular to the plane of the
sound dynamical considerations. This is what page; see Fig. 7.33). As said above we need to
we now turn to. consider only those forces which lie in planes
Before we begin, we note a simplification perpendicular to the axis. Let F1 be one such
that arises in the case of rotational motion typical force acting as shown on a particle of
about a fixed axis. Since the axis is fixed, only the body at point P1 with its line of action in a
those components of torques, which are along plane perpendicular to the axis. For convenience
the direction of the fixed axis need to be we call this to be the x′–y′ plane (coincident
considered in our discussion. Only these with the plane of the page). The particle at P1
components can cause the body to rotate about describes a circular path of radius r1 with centre
the axis. A component of the torque C on the axis; CP1 = r1.
perpendicular to the axis of rotation will tend In time ∆t, the point moves to the position
to turn the axis from its position. We specifically P 1′ . The displacement of the particle ds 1 ,
assume that there will arise necessary forces of therefore, has magnitude ds 1 = r 1d θ and
constraint to cancel the effect of the direction tangential at P1 to the circular path
perpendicular components of the (external) as shown. Here dθ is the angular displacement
torques, so that the fixed position of the axis
of the particle, dθ = ∠P1CP1′ .The work done by
will be maintained. The perpendicular
components of the torques, therefore need not the force on the particle is
be taken into account. This means that for our dW1 = F1. ds1= F1ds1 cosφ1= F1(r1 dθ)sinα1
calculation of torques on a rigid body: where φ1 is the angle between F1 and the tangent
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Table 7.2 Comparison of Translational and Rotational Motion
Linear Motion Rotational Motion about a Fixed Axis

1 Displacement x Angular displacement θ
2 Velocity v = dx/dt Angular velocity ω = dθ/dt
3 Acceleration a = dv/dt Angular acceleration α = dω/dt
4 Mass M Moment of inertia I
5 Force F = Ma Torque τ = I α
6 Work dW = F ds Work W = τ dθ
7 2
Kinetic energy K = Mv /2 Kinetic energy K = Iω2/2
8 Power P = F v Power P = τω
9 Linear momentum p = Mv Angular momentum L = Iω
at P1, and α1 is the angle between F1 and the Dividing both sides of Eq. (7.41) by dt gives
radius vector OP1; φ1 + α1 = 90°. dW dθ
P = =τ = τω
The torque due to F1 about the origin is dt dt
OP 1 ×F 1. Now OP 1 = OC + OP 1 . [Refer to or P = τω (7.42)
Fig. 7.17(b).] Since OC is along the axis, the This is the instantaneous power. Compare
torque resulting from it is excluded from our this expression for power in the case of
consideration. The effective torque due to F1 is rotational motion about a fixed axis with that of
τ1= CP×F1; it is directed along the axis of rotation power in the case of linear motion,
and has a magnitude τ1= r1F1 sinα , Therefore, P = Fv
dW1 = τ1dθ In a perfectly rigid body there is no internal
If there are more than one forces acting on motion. The work done by external torques is
the body, the work done by all of them can be therefore, not dissipated and goes on to increase
added to give the total work done on the body. the kinetic energy of the body. The rate at which
Denoting the magnitudes of the torques due to work is done on the body is given by Eq. (7.42).
the different forces as τ1, τ2, … etc, This is to be equated to the rate at which kinetic
energy increases. The rate of increase of kinetic
dW = (τ1 + τ 2 + ...) dθ energy is
Remember, the forces giving rise to the d  Iω2  (2ω ) dω
torques act on different particles, but the   =I
dt  2  2 dt
angular displacement dθ is the same for all
particles. Since all the torques considered are We assume that the moment of inertia does
parallel to the fixed axis, the magnitude τ of the not change with time. This means that the mass
total torque is just the algebraic sum of the of the body does not change, the body remains
magnitudes of the torques, i.e., τ = τ1 + τ2 + ..... rigid and also the axis does not change its
We, therefore, have position with respect to the body.
Since α = dω / dt , we get
dW = τ dθ (7.41)
This expression gives the work done by the d  Iω2 
=Iωα
total (external) torque τ which acts on the body dt  2 
rotating about a fixed axis. Its similarity with
the corresponding expression Equating rates of work done and of increase
dW= F ds in kinetic energy,
for linear (translational) motion is obvious. τω = I ω α
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τ = Iα (7.43) I = Moment of inertia of flywheel about its

Eq. (7.43) is similar to Newton’s second law MR 2
for linear motion expressed symbolically as axis =
2
F = ma
Just as force produces acceleration, torque 20.0 × (0.2)2
= = 0.4 kg m2
produces angular acceleration in a body. The 2
angular acceleration is directly proportional to α = angular acceleration
the applied torque and is inversely proportional = 5.0 N m/0.4 kg m2 = 12.5 s–2
to the moment of inertia of the body. In this (b) Work done by the pull unwinding 2m of the
respect, Eq.(7.43) can be called Newton’s second cord
law for rotational motion about a fixed axis. = 25 N × 2m = 50 J
(c) Let ω be the final angular velocity. The
 Example 7.15 A cord of negligible mass 1 2
is wound round the rim of a fly wheel of kinetic energy gained = Iω ,
2
mass 20 kg and radius 20 cm. A steady
since the wheel starts from rest. Now,
pull of 25 N is applied on the cord as shown
in Fig. 7.35. The flywheel is mounted on a ω 2 = ω02 + 2αθ , ω0 = 0
horizontal axle with frictionless bearings. The angular displacement θ = length of
(a) Compute the angular acceleration of unwound string / radius of wheel
the wheel. = 2m/0.2 m = 10 rad
(b) Find the work done by the pull, when ω 2 = 2 × 12.5 × 10.0 = 250 (rad/s)2
2m of the cord is unwound.
(c) Find also the kinetic energy of the ∴
wheel at this point. Assume that the
wheel starts from rest. (d) The answers are the same, i.e. the kinetic energy
gained by the wheel = work done by the force.
(d) Compare answers to parts (b) and (c). There is no loss of energy due to friction. 
Answer 7.13 ANGULAR MOMENTUM IN CASE OF
ROTATION ABOUT A FIXED AXIS
We have studied in section 7.7, the angular
momentum of a system of particles. We already
know from there that the time rate of total
angular momentum of a system of particles
about a point is equal to the total external torque
on the system taken about the same point. When
the total external torque is zero, the total angular
momentum of the system is conserved.
We now wish to study the angular momentum
in the special case of rotation about a fixed axis.
The general expression for the total angular
momentum of the system of n particles is
N
L= ∑ ri × pi (7.25b)
i =1
Fig. 7.35 We first consider the angular momentum of
a typical particle of the rotating rigid body. We
(a) We use I α=τ then sum up the contributions of individual
the torque τ=FR particles to get L of the whole body.
= 25 × 0.20 Nm (as R = 0.20m) For a typical particle l = r×p. As seen in the
= 5.0 Nm last section r = OP = OC + CP [Fig. 7.17(b)]. With
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172 PHYSICS
p=mv, Note L = L z + L ⊥ (7.44c)

l = ( OC × m v ) + ( CP × m v ) The rigid bodies which we have mainly
The magnitude of the linear velocity v of the considered in this chapter are symmetric about
particle at P is given by v = ωr⊥ where r⊥ is the the axis of rotation, i.e. the axis of rotation is
length of CP or the perpendicular distance of P one of their symmetry axes. For such bodies,
from the axis of rotation. Further, v is tangential for a given OCi, for every particle which has a
at P to the circle which the particle describes. velocity vi , there is another particle of velocity
Using the right-hand rule one can check that –vi located diametrically opposite on the circle
CP × v is parallel to the fixed axis. The unit with centre Ci described by the particle. Together
vector along the fixed axis (chosen as the z-axis) such pairs will contribute zero to L ⊥ and as a
 . Hence
is k
 result for symmetric bodies L ⊥ is zero, and
CP × m v = r (mv ) k
⊥
hence
= mr⊥2ω 
k (since υ = ωr⊥ ) 
L = Lz = Iω k (7.44d)
Similarly, we can check that OC × v is For bodies, which are not symmetric about
perpendicular to the fixed axis. Let us denote the axis of rotation, L is not equal to Lz and
the part of l along the fixed axis (i.e. the z-axis) hence L does not lie along the axis of rotation.
by lz, then Referring to Table 7.1, can you tell in which
l = CP × m v = mr 2ω k cases L = Lz will not apply?
z ⊥
Let us differentiate Eq. (7.44b). Since k is a
and l = lz + OC × m v
fixed (constant) vector, we get
We note that lz is parallel to the fixed axis,
but l is not. In general, for a particle, the angular d  d 
( L z ) =  ( I ω ) k
momentum l is not along the axis of rotation, dt  dt 
i.e. for a particle, l and ω are not necessarily
Now, Eq. (7.28b) states
parallel. Compare this with the corresponding
fact in translation. For a particle, p and v are dL
= τ
always parallel to each other. dt
For computing the total angular momentum As we have seen in the last section, only
of the whole rigid body, we add up the those components of the external torques which
contribution of each particle of the body. are along the axis of rotation, need to be taken
L = ∑ li = ∑ liz + ∑ OCi × m i vi into account, when we discuss rotation about a
Thus
fixed axis. This means we can take τ = τ k .
We denote by L ⊥ and L z the components
of L respectively perpendicular to the z-axis Since L = L z + L ⊥ and the direction of Lz (vector
and along the z-axis;  ) is fixed, it follows that for rotation about a
k
L ⊥ = ∑ OCi × m i vi (7.44a) fixed axis,
where mi and vi are respectively the mass and dL z 
the velocity of the ith particle and Ci is the centre = τk (7.45a)
dt
of the circle described by the particle;
dL ⊥
  and =0 (7.45b)
and Lz = ∑ liz =  ∑ m iri2  ω k dt
i
Thus, for rotation about a fixed axis, the
or Lz = Iω k  (7.44b) component of angular momentum
perpendicular to the fixed axis is constant. As
The last step follows since the perpendicular
distance of the ith particle from the axis is ri;  , we get from Eq. (7.45a),
L = Iωk
z
and by definition the moment of inertia of the
d
body about the axis of rotation is I = ∑ m i ri2 . (I ω ) = τ (7.45c)
dt
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If the moment of inertia I does not change with considerable angular speed stretch your arms
time, horizontally. What happens? Your angular
speed is reduced. If you bring back your arms
d dω
(I ω ) = I = Iα closer to your body, the angular speed increases
dt dt again. This is a situation where the principle of
and we get from Eq. (7.45c), conservation of angular momentum is
τ = Iα (7.43) applicable. If friction in the rotational
We have already derived this equation using mechanism is neglected, there is no external
the work - kinetic energy route. torque about the axis of rotation of the chair
and hence Iω is constant. Stretching the arms
7.13.1 Conservation of angular momentum increases I about the axis of rotation, resulting
in decreasing the angular speed ω. Bringing
We are now in a position to revisit the principle
the arms closer to the body has the opposite
of conservation of angular momentum in the
effect.
context of rotation about a fixed axis. From Eq.
A circus acrobat and a diver take advantage
(7.45c), if the external torque is zero,
of this principle. Also, skaters and classical,
Lz = Iω = constant (7.46)
Indian or western, dancers performing a
For symmetric bodies, from Eq. (7.44d), Lz
pirouette (a spinning about a tip–top) on the toes
may be replaced by L .(L and Lz are respectively
of one foot display ‘mastery’ over this principle.
the magnitudes of L and Lz.)
Can you explain?
This then is the required form, for fixed axis
rotation, of Eq. (7.29a), which expresses the
7.14 ROLLING MOTION
general law of conservation of angular
momentum of a system of particles. Eq. (7.46) One of the most common motions observed in
applies to many situations that we come across daily life is the rolling motion. All wheels used
in daily life. You may do this experiment with in transportation have rolling motion. For
your friend. Sit on a swivel chair (a chair with a specificness we shall begin with the case of a
seat, free to rotate about a pivot) with your arms disc, but the result will apply to any rolling body
folded and feet not resting on, i.e., away from, rolling on a level surface. We shall assume that
the ground. Ask your friend to rotate the chair the disc rolls without slipping. This means that
rapidly. While the chair is rotating with at any instant of time the bottom of the disc
Fig 7.36 (a) A demonstration of conservation of

angular momentum. A girl sits on a Fig 7.36 (b) An acrobat employing the principle of
swivel chair and stretches her arms/ conservation of angular momentum in
brings her arms closer to the body. her performance.
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174 PHYSICS
which is in contact with the surface is at rest At Po, the linear velocity, vr, due to rotation
on the surface. is directed exactly opposite to the translational
We have remarked earlier that rolling motion velocity vcm. Further the magnitude of vr here is
is a combination of rotation and translation. We Rω, where R is the radius of the disc. The
know that the translational motion of a system condition that Po is instantaneously at rest
of particles is the motion of its centre of mass. requires vcm = Rω. Thus for the disc the condition
for rolling without slipping is
υcm = R ω (7.47)
Incidentally, this means that the velocity of
point P 1 at the top of the disc (v 1) has a
magnitude vcm+ R ω or 2 vcm and is directed
parallel to the level surface. The condition (7.47)
applies to all rolling bodies.
7.14.1 Kinetic Energy of Rolling Motion
Our next task will be to obtain an expression
for the kinetic energy of a rolling body. The
kinetic energy of a rolling body can be separated
into kinetic energy of translation and kinetic
energy of rotation. This is a special case of a
general result for a system of particles,
Fig. 7.37 The rolling motion (without slipping) of a according to which the kinetic energy of a
disc on a level surface. Note at any instant, system of particles (K) can be separated into
the point of contact P 0 of the disc with the the kinetic energy of translational motion of the
surface is at rest; the centre of mass of centre of mass (MV2/2) and kinetic energy of
the disc moves with velocity, vcm. The disc
rotational motion about the centre of mass of
rotates with angular velocity ω about its
the system of particles (K′). Thus,
axis which passes through C; vcm =Rω,
(7.48)
where R is the radius of the disc.
We assume this general result (see Exercise
Let vcm be the velocity of the centre of mass 7.31), and apply it to the case of rolling motion.
and therefore the translational velocity of the In our notation, the kinetic energy of the centre
disc. Since the centre of mass of the rolling disc of mass, i.e., the kinetic energy of translation,
is at its geometric centre C (Fig. 7. 37), vcm is of the rolling body is mv2cm /2, where m is the
the velocity of C. It is parallel to the level mass of the body and vcm is the centre of the
surface. The rotational motion of the disc is mass velocity. Since the motion of the rolling
about its symmetry axis, which passes through body about the centre of mass is rotation, K′
C. Thus, the velocity of any point of the disc, represents the kinetic energy of rotation of the
like P0, P1 or P2, consists of two parts, one is the body; , where I is the moment of
translational velocity vcm and the other is the inertia about the appropriate axis, which is the
linear velocity vr on account of rotation. The symmetry axis of the rolling body. The kinetic
magnitude of vr is vr = rω, where ω is the angular energy of a rolling body, therefore, is given by
velocity of the rotation of the disc about the axis (7.49a)
and r is the distance of the point from the axis
(i.e. from C). The velocity v r is directed Substituting I = mk 2 where k = the
perpendicular to the radius vector of the given corresponding radius of gyration of the body
point with respect to C. In Fig. 7.37, the velocity and vcm= R ω, we get
of the point P2 (v2) and its components vr and
vcm are shown; vr here is perpendicular to CP2 .
It is easy to show that vz is perpendicular to the
line POP2. Therefore the line passing through PO or (7.49b)
and parallel to ω is called the instantaneous axis
of rotation.
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Equation (7.49b) applies to any rolling body:

1  k2 
a disc, a cylinder, a ring or a sphere. mgh = m υ 2 1 + 2 
2  R 
 Example 7.16 Three bodies, a ring, a solid
cylinder and a solid sphere roll down the  2 gh 
or υ = 
2
same inclined plane without slipping. They 2 
1 + k R 
2
start from rest. The radii of the bodies are

identical. Which of the bodies reaches the Note is independent of the mass of the
ground with maximum velocity? rolling body;
For a ring, k2 = R2
Answer We assume conservation of energy of 2 gh
the rolling body, i.e. there is no loss of energy υring = ,
1 +1
due to friction etc. The potential energy lost by
the body in rolling down the inclined plane = gh
(= mgh) must, therefore, be equal to kinetic
energy gained. (See Fig.7.38) Since the bodies For a solid cylinder k2 = R2/2
start from rest the kinetic energy gained is equal 2gh
to the final kinetic energy of the bodies. From υdisc =
1 +1 2
1  k2 
Eq. (7.49b), K = mυ 2 1 + 2  , where v is the 4 gh
2  R  =
3
final velocity of (the centre of mass of) the body.
Equating K and mgh, For a solid sphere k2 = 2R2/5
2 gh
υsphere =
1+ 2 5
10gh
=
7
From the results obtained it is clear that among
the three bodies the sphere has the greatest and
the ring has the least velocity of the centre of mass
at the bottom of the inclined plane.
Suppose the bodies have the same mass. Which
body has the greatest rotational kinetic energy while
Fig.7.38 reaching the bottom of the inclined plane? 
SUMMARY
1. Ideally, a rigid body is one for which the distances between different particles of the
body do not change, even though there are forces on them.
2. A rigid body fixed at one point or along a line can have only rotational motion. A rigid
body not fixed in some way can have either pure translational motion or a combination
of translational and rotational motions.
3. In rotation about a fixed axis, every particle of the rigid body moves in a circle which
lies in a plane perpendicular to the axis and has its centre on the axis. Every Point in
the rotating rigid body has the same angular velocity at any instant of time.
4. In pure translation, every particle of the body moves with the same velocity at any
instant of time.
5. Angular velocity is a vector. Its magnitude is ω = dθ/dt and it is directed along the axis
of rotation. For rotation about a fixed axis, this vector ω has a fixed direction.
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176 PHYSICS
6. The vector or cross product of two vector a and b is a vector written as a×b. The
magnitude of this vector is absinθ and its direction is given by the right handed screw
or the right hand rule.
7. The linear velocity of a particle of a rigid body rotating about a fixed axis is given by
v = ω × r, where r is the position vector of the particle with respect to an origin along
the fixed axis. The relation applies even to more general rotation of a rigid body with
one point fixed. In that case r is the position vector of the particle with respect to the
fixed point taken as the origin.
8. The centre of mass of a system of n particles is defined as the point whose position
vector is
R=
∑ m i ri
M
9. Velocity of the centre of mass of a system of particles is given by V = P/M, where P is the
linear momentum of the system. The centre of mass moves as if all the mass of the
system is concentrated at this point and all the external forces act at it. If the total
external force on the system is zero, then the total linear momentum of the system is
constant.
10. The angular momentum of a system of n particles about the origin is

n
L = ∑ ri × pi
i = 1
The torque or moment of force on a system of n particles about the origin is
τ = ∑ ri × Fi
1
The force Fi acting on the ith particle includes the external as well as internal forces.
Assuming Newton’s third law of motion and that forces between any two particles act
along the line joining the particles, we can show τ int = 0 and
dL
= τ ext
dt
11. A rigid body is in mechanical equilibrium if
(1) it is in translational equilibrium, i.e., the total external force on it is zero : ∑F i =0 ,
and
(2) it is in rotational equilibrium, i.e. the total external torque on it is zero :
∑ τ i = ∑ ri × Fi = 0 .
12. The centre of gravity of an extended body is that point where the total gravitational
torque on the body is zero.
13. The moment of intertia of a rigid body about an axis is defined by the formula I = ∑ m i ri2
where ri is the perpendicular distance of the ith point of the body from the axis. The
1
kinetic energy of rotation is K = Iω2 .
2
14. The theorem of parallel axes: I z′ = I z + Ma 2 , allows us to determine the moment of
intertia of a rigid body about an axis as the sum of the moment of inertia of the body
about a parallel axis through its centre of mass and the product of mass and square of
the perpendicular distance between these two axes.
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15. Rotation about a fixed axis is directly analogous to linear motion in respect of kinematics
and dynamics.
16. For a rigid body rotating about a fixed axis (say, z-axis) of rotation, Lz = Iω, where I is
the moment of inertia about z-axis. In general, the angular momentum L for such a
body is not along the axis of rotation. Only if the body is symmetric about the axis of
rotation, L is along the axis of rotation. In that case, L = L z = I ω . The angular
acceleration of a rigid body rotating about a fixed axis is given by Iα = τ. If the external
torque τ acting on the body is zero, the component of angular momentum about the
fixed axis (say, z-axis), Lz (=Iω) of such a rotating body is constant.
17. For rolling motion without slipping vcm = Rω, where vcm is the velocity of translation (i.e.
of the centre of mass), R is the radius and m is the mass of the body. The kinetic energy
of such a rolling body is the sum of kinetic energies of translation and rotation:
1 1
K= 2
m vcm + Iω 2 .
2 2
POINTS TO PONDER
1. To determine the motion of the centre of mass of a system no knowledge of internal
forces of the system is required. For this purpose we need to know only the external
forces on the body.
2. Separating the motion of a system of particles as the motion of the centre of mass, (i.e.,
the translational motion of the system) and motion about (i.e. relative to) the centre of
mass of the system is a useful technique in dynamics of a system of particles. One
example of this technique is separating the kinetic energy of a system of particles K as
the kinetic energy of the system about its centre of mass K′ and the kinetic energy of
the centre of mass MV2/2,
K = K′ + MV2/2
3. Newton’s Second Law for finite sized bodies (or systems of particles) is based in Newton’s
Second Law and also Newton’s Third Law for particles.
4. To establish that the time rate of change of the total angular momentum of a system of
particles is the total external torque in the system, we need not only Newton’s second
law for particles, but also Newton’s third law with the provision that the forces between
any two particles act along the line joining the particles.
5. The vanishing of the total external force and the vanishing of the total external torque
are independent conditions. We can have one without the other. In a couple, total
external force is zero, but total torque is non-zero.
6. The total torque on a system is independent of the origin if the total external force is
zero.
7. The centre of gravity of a body coincides with its centre of mass only if the gravitational
field does not vary from one part of the body to the other.
8. The angular momentum L and the angular velocity ω are not necessarily parallel vectors.
However, for the simpler situations discussed in this chapter when rotation is about a
ω holds good,
fixed axis which is an axis of symmetry of the rigid body, the relation L = Iω
where I is the moment of the inertia of the body about the rotation axis.
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EXERCISES
7.1 Give the location of the centre of mass of a (i) sphere, (ii) cylinder, (iii) ring, and (iv)
cube, each of uniform mass density. Does the centre of mass of a body necessarily
lie inside the body ?
7.2 In the HCl molecule, the separation between the nuclei of the two atoms is about
1.27 Å (1 Å = 10-10 m). Find the approximate location of the CM of the molecule,
given that a chlorine atom is about 35.5 times as massive as a hydrogen atom and
nearly all the mass of an atom is concentrated in its nucleus.
7.3 A child sits stationary at one end of a long trolley moving uniformly with a speed V
on a smooth horizontal floor. If the child gets up and runs about on the trolley in any
manner, what is the speed of the CM of the (trolley + child) system ?
7.4 Show that the area of the triangle contained between the vectors a and b is one half
of the magnitude of a × b.
7.5 Show that a.(b × c) is equal in magnitude to the volume of the parallelepiped formed
on the three vectors , a, b and c.
7.6 Find the components along the x, y, z axes of the angular momentum l of a particle,
whose position vector is r with components x, y, z and momentum is p with
components px, py and pz. Show that if the particle moves only in the x-y plane the
angular momentum has only a z-component.
7.7 Two particles, each of mass m and speed v, travel in opposite directions along parallel
lines separated by a distance d. Show that the angular momentum vector of the two
particle system is the same whatever be the point about which the angular momentum
is taken.
7.8 A non-uniform bar of weight W is suspended at rest by two strings of negligible
weight as shown in Fig.7.39. The angles made by the strings with the vertical are
36.9° and 53.1° respectively. The bar is 2 m long. Calculate the distance d of the
centre of gravity of the bar from its left end.
Fig. 7.39
7.9 A car weighs 1800 kg. The distance between its front and back axles is 1.8 m. Its
centre of gravity is 1.05 m behind the front axle. Determine the force exerted by the
level ground on each front wheel and each back wheel.
7.10 (a) Find the moment of inertia of a sphere about a tangent to the sphere, given the
moment of inertia of the sphere about any of its diameters to be 2MR2/5, where
M is the mass of the sphere and R is the radius of the sphere.
(b) Given the moment of inertia of a disc of mass M and radius R about any of its
diameters to be MR2/4, find its moment of inertia about an axis normal to the
disc and passing through a point on its edge.
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7.11 Torques of equal magnitude are applied to a hollow cylinder and a solid sphere, both
having the same mass and radius. The cylinder is free to rotate about its standard
axis of symmetry, and the sphere is free to rotate about an axis passing through its
centre. Which of the two will acquire a greater angular speed after a given time.
7.12 A solid cylinder of mass 20 kg rotates about its axis with angular speed 100 rad s-1.
The radius of the cylinder is 0.25 m. What is the kinetic energy associated with the
rotation of the cylinder? What is the magnitude of angular momentum of the cylinder
about its axis?
7.13 (a) A child stands at the centre of a turntable with his two arms outstretched. The
turntable is set rotating with an angular speed of 40 rev/min. How much is the
angular speed of the child if he folds his hands back and thereby reduces his
moment of inertia to 2/5 times the initial value ? Assume that the turntable
rotates without friction.
(b) Show that the child’s new kinetic energy of rotation is more than the initial
kinetic energy of rotation. How do you account for this increase in kinetic energy?
7.14 A rope of negligible mass is wound round a hollow cylinder of mass 3 kg and radius
40 cm. What is the angular acceleration of the cylinder if the rope is pulled with a
force of 30 N ? What is the linear acceleration of the rope ? Assume that there is no
slipping.
7.15 To maintain a rotor at a uniform angular speed of 200 rad s-1, an engine needs to
transmit a torque of 180 N m. What is the power required by the engine ?
(Note: uniform angular velocity in the absence of friction implies zero torque. In
practice, applied torque is needed to counter frictional torque). Assume that the
engine is 100% efficient.
7.16 From a uniform disk of radius R, a circular hole of radius R/2 is cut out. The centre
of the hole is at R/2 from the centre of the original disc. Locate the centre of gravity
of the resulting flat body.
7.17 A metre stick is balanced on a knife edge at its centre. When two coins, each of mass
5 g are put one on top of the other at the 12.0 cm mark, the stick is found to be
balanced at 45.0 cm. What is the mass of the metre stick?
7.18 A solid sphere rolls down two different inclined planes of the same heights but
different angles of inclination. (a) Will it reach the bottom with the same speed in
each case? (b) Will it take longer to roll down one plane than the other? (c) If so,
which one and why?
7.19 A hoop of radius 2 m weighs 100 kg. It rolls along a horizontal floor so that its centre
of mass has a speed of 20 cm/s. How much work has to be done to stop it?
7.20 The oxygen molecule has a mass of 5.30 × 10 -26 kg and a moment of inertia of
1.94×10-46 kg m2 about an axis through its centre perpendicular to the lines joining
the two atoms. Suppose the mean speed of such a molecule in a gas is 500 m/s and
that its kinetic energy of rotation is two thirds of its kinetic energy of translation.
Find the average angular velocity of the molecule.
7.21 A solid cylinder rolls up an inclined plane of angle of inclination 30°. At the bottom
of the inclined plane the centre of mass of the cylinder has a speed of 5 m/s.
(a) How far will the cylinder go up the plane?
(b) How long will it take to return to the bottom?
Additional Exercises
7.22 As shown in Fig.7.40, the two sides of a step ladder BA and CA are 1.6 m long and
hinged at A. A rope DE, 0.5 m is tied half way up. A weight 40 kg is suspended from
a point F, 1.2 m from B along the ladder BA. Assuming the floor to be frictionless
and neglecting the weight of the ladder, find the tension in the rope and forces
exerted by the floor on the ladder. (Take g = 9.8 m/s2)
(Hint: Consider the equilibrium of each side of the ladder separately.)
2019-20
180 PHYSICS
Fig.7.40
7.23 A man stands on a rotating platform, with his arms stretched horizontally holding a
5 kg weight in each hand. The angular speed of the platform is 30 revolutions per
minute. The man then brings his arms close to his body with the distance of each
weight from the axis changing from 90cm to 20cm. The moment of inertia of the
man together with the platform may be taken to be constant and equal to 7.6 kg m2.
(a) What is his new angular speed? (Neglect friction.)
(b) Is kinetic energy conserved in the process? If not, from where does the change
come about?
7.24 A bullet of mass 10 g and speed 500 m/s is fired into a door and gets embedded
exactly at the centre of the door. The door is 1.0 m wide and weighs 12 kg. It is
hinged at one end and rotates about a vertical axis practically without friction. Find
the angular speed of the door just after the bullet embeds into it.
(Hint: The moment of inertia of the door about the vertical axis at one end is ML2/3.)
7.25 Two discs of moments of inertia I1 and I2 about their respective axes (normal to the
disc and passing through the centre), and rotating with angular speeds ω1 and ω2
are brought into contact face to face with their axes of rotation coincident. (a) What
is the angular speed of the two-disc system? (b) Show that the kinetic energy of the
combined system is less than the sum of the initial kinetic energies of the two discs.
How do you account for this loss in energy? Take ω1 ≠ ω2.
7.26 (a) Prove the theorem of perpendicular axes.
(Hint : Square of the distance of a point (x, y) in the x–y plane from an axis through
the origin and perpendicular to the plane is x2+y2).
(b) Prove the theorem of parallel axes.
(Hint : If the centre of mass of a system of n particles is chosen to be the origin
∑ m i ri = 0 ).
7.27 Prove the result that the velocity v of translation of a rolling body (like a ring, disc,
cylinder or sphere) at the bottom of an inclined plane of a height h is given by
2 gh
v2 =
(1 + k 2
/ R2 )
using dynamical consideration (i.e. by consideration of forces and torques). Note k is
the radius of gyration of the body about its symmetry axis, and R is the radius of the
body. The body starts from rest at the top of the plane.
7.28 A disc rotating about its axis with angular speed ωo is placed lightly (without any
translational push) on a perfectly frictionless table. The radius of the disc is R. What
2019-20
are the linear velocities of the points A, B and C on the disc shown in Fig. 7.41? Will the disc roll in
the direction indicated ?
Fig. 7.41
7.29 Explain why friction is necessary to make the disc in Fig. 7.41 roll in the direction indicated.
(a) Give the direction of frictional force at B, and the sense of frictional torque, before perfect rolling
begins.
(b) What is the force of friction after perfect rolling begins ?
7.30 A solid disc and a ring, both of radius 10 cm are placed on a horizontal table
simultaneously, with initial angular speed equal to 10 π rad s-1. Which of the two will start to roll
earlier ? The co-efficient of kinetic friction is µ = 0.2.
k
7.31 A cylinder of mass 10 kg and radius 15 cm is rolling perfectly on a plane of inclination 30o. The co-
efficient of static friction µs = 0.25.
(a) How much is the force of friction acting on the cylinder ?
(b) What is the work done against friction during rolling ?
(c) If the inclination θ of the plane is increased, at what value of θ does the cylinder begin to skid,
and not roll perfectly ?
7.32 Read each statement below carefully, and state, with reasons, if it is true or false;
(a) During rolling, the force of friction acts in the same direction as the direction of motion of the CM
of the body.
(b) The instantaneous speed of the point of contact during rolling is zero.
(c) The instantaneous acceleration of the point of contact during rolling is zero.
(d) For perfect rolling motion, work done against friction is zero.
(e) A wheel moving down a perfectly frictionless inclined plane will undergo slipping (not rolling)
motion.
7.33 Separation of Motion of a system of particles into motion of the centre of mass and motion about the
centre of mass :
(a) Show p = pi′ + m i V
where pi is the momentum of the ith particle (of mass mi) and p′′i = mi v′′ i. Note v′′ i is the velocity
of the ith particle relative to the centre of mass.
Also, prove using the definition of the centre of mass ∑ pi′ = 0
(b) Show K = K ′ + ½MV 2

where K is the total kinetic energy of the system of particles, K ′ is the total kinetic energy of the
system when the particle velocities are taken with respect to the centre of mass and MV2/2 is the
kinetic energy of the translation of the system as a whole (i.e. of the centre of mass motion of the
system). The result has been used in Sec. 7.14.
(c) Show L = L ′ + R × MV
where L ′ = ∑ r ′i × pi′ is the angular momentum of the system about the centre of mass with
2019-20
182 PHYSICS
velocities taken relative to the centre of mass. Remember ri′ = ri – R ; rest of the
notation is the standard notation used in the chapter. Note L ′ and MR × V can
be said to be angular momenta, respectively, about and of the centre of mass of
the system of particles.
dL ′ dp ′
(d) Show = ∑ ri′ ×
dt dt
Further, show that
dL ′
= τ ext
′
dt
where τ′ext is the sum of all external torques acting on the system about the
centre of mass.
(Hint : Use the definition of centre of mass and third law of motion. Assume the
internal forces between any two particles act along the line joining the particles.)
Pluto - A Dwarf Planet

The International Astronomical Union (IAU) at the IAU 2006 General Assembly
held on August 24, 2006, in Prague in Czech Republic, adopted a new
definition of planets in our Solar System. According to the new definition,
Pluto is no longer a planet. This means that the Solar System consists of
eight planets: Mercury, Venus, Earth, Mars, Jupiter, Saturn, Uranus and
Neptune. According to the IAU usage, the ‘planet’ and ‘other bodies’ in our
Solar System, except satellites, are to be defined into three distinct categories
of celestial objects in the following way:
1. A ‘planet’ is a celestial body that (a) is in orbit around the Sun, (b) has
sufficient mass for its self-gravity to overcome rigid body forces so that it
assumes a hydrostatic equilibrium (nearly round) shape, and (c) has
cleared the neighbourhood around its orbit.
2. A ‘dwarf planet’ is a celestial body that (a) is in orbit around the Sun,
(b) has sufficient mass for its self-gravity to overcome rigid body forces so
that it assumes a hydrostatic equilibrium (nearly round) shape, (c) has
not cleared the neighbourhood around its orbit, and (d) is not a satellite.
3. All ‘other objects’, except satellites, orbiting the Sun, shall be referred to
collectively as ‘Small Solar-System Bodies’.
Unlike other eight planets in the Solar System, Pluto’s orbital path overlaps
with ‘other objects’ and the planet Neptune. The ‘other objects’ currently
include most of the Solar System asteroids, most of the Trans-Neptunian
Objects (TNOs), comets, and other small bodies.
Pluto is a ‘dwarf planet’ by the above definition and is recognised as the
prototype of a new category of Trans-Neptunian Objects.
2019-20

S P R M: Ystems OF Articles AND Otational Otion

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CHAPTER SEVEN

SYSTEMS OF PARTICLES AND ROTATIONAL MOTION

7.1.1 What kind of motion can a rigid body have?

most common way to constrain a rigid body so

block sliding down an inclined plane without any

Fig. 7.2 Rolling motion of a cylinder. It is not pure

Fig. 7.5 (a) A spinning top

7.2 CENTRE OF MASS

particles. The centre of mass of the system is

is the total mass of the system. and R = X i + Y j + Z k

Often we have to calculate the centre of mass Answer

Fig. 7.8 Determining the CM of a thin rod. Fig. 7.9

 Example 7.2 Find the centre of mass of a

Answer The lamina (∆LMN ) may be subdivided

complicated trajectories. Yet, if the total external

move back to back with their centre of mass

From this follow the results

Answer which lies in a plane perpendicular to the axis

Now ω × r = ω × OP = ω × (OC + CP) If the axis of rotation is fixed, the direction

of the line of action of F from the origin and

The physical quantities, moment of a force

If the total force on the body is zero, then

Eq. (7.31a) and (7.31b) give six independent

Fig. 7.20 (a)

Let C be the midpoint of AB, CA = CB = a.

length. This point is called the fulcrum. A see-

Fig. 7.21(b) The Earth’s magnetic field exerts equal

examples and identify the fulcrum, the effort and

Fig. 7.25 Determining the centre of gravity of a body

Figure 7.26 shows the rod AB, the positions

Pythagoras theorem, BC = 2 2 m. The forces linear velocity is υi = ri ω . The kinetic energy of

With this definition,

Z Body Axis Figure I

(1) Thin circular Perpendicular to M R2

(2) Thin circular Diameter M R2/2

(3) Thin rod, Perpendicular to M L2/12

(4) Circular disc, Perpendicular to M R2/2

(5) Circular disc, Diameter M R2/4

(6) Hollow cylinder, Axis of cylinder M R2

(7) Solid cylinder, Axis of cylinder M R2/2

(8) Solid sphere, Diameter 2 M R2/5

Theorem of perpendicular axes the theorem. It states that the moment of

Answer We assume the moment of inertia of

 Example 7.10 What is the moment of

Fig.7.31 The theorem of parallel axes The z and z′

there is no need to treat angular velocity as a

2π × angular speed in rev/min

Fig.7.33 Specifying the angular position of a rigid ω − ω0

Table 7.2 Comparison of Translational and Rotational Motion

Linear Motion Rotational Motion about a Fixed Axis

τ = Iα (7.43) I = Moment of inertia of flywheel about its

p=mv, Note L = L z + L ⊥ (7.44c)

Fig 7.36 (a) A demonstration of conservation of

Equation (7.49b) applies to any rolling body:

start from rest. The radii of the bodies are

10. The angular momentum of a system of n particles about the origin is

The torque or moment of force on a system of n particles about the origin is

(b) Show K = K ′ + ½MV 2

Pluto - A Dwarf Planet