Rotation I

8.1 Rotational Motion and Angular Displacement

In the simplest kind of rotation,

points on a rigid object move on
circular paths around an axis of
rotation.
8.1 Rotational Motion and Angular Displacement

The angle through which the

object rotates is called the
angular displacement.

    o
8.1 Rotational Motion and Angular Displacement

DEFINITION OF ANGULAR DISPLACEMENT

When a rigid body rotates about a fixed axis, the angular

displacement is the angle swept out by a line passing through
any point on the body and intersecting the axis of
rotation perpendicularly.

By convention, the angular displacement

is positive if it is counterclockwise and
negative if it is clockwise.

SI Unit of Angular Displacement: radian (rad)

8.1 Rotational Motion and Angular Displacement

Arc length s
 (in radians)  
Radius r

For a full revolution:

2 r
  2 rad 2 rad  360
r
8.2 Angular Velocity and Angular Acceleration

    o

How do we describe the rate

at which the angular displacement
is changing?
8.2 Angular Velocity and Angular Acceleration

DEFINITION OF AVERAGE ANGULAR VELOCITY

Angular displacement
Average angular velocity 
Elapsed time

  o

 
t  to t

SI Unit of Angular Velocity: radian per second (rad/s)

8.2 Angular Velocity and Angular Acceleration

Example 3 Gymnast on a High Bar

A gymnast on a high bar swings through

two revolutions in a time of 1.90 s.

Find the average angular velocity

of the gymnast.
8.2 Angular Velocity and Angular Acceleration

 2 rad 
  2.00 rev   12.6 rad
 1 rev 

 12.6 rad
  6.63 rad s
1.90 s
8.2 Angular Velocity and Angular Acceleration

INSTANTANEOUS ANGULAR VELOCITY


  lim   lim
t 0 t 0 t
8.2 Angular Velocity and Angular Acceleration

Changing angular velocity means that an angular

acceleration is occurring.

DEFINITION OF AVERAGE ANGULAR ACCELERATION

Change in angular velocity

Average angular acceleration 
Elapsed time

  o 
 
t  to t
SI Unit of Angular acceleration: radian per second squared (rad/s2)
8.2 Angular Velocity and Angular Acceleration

Example 4 A Jet Revving Its Engines

As seen from the front of the

engine, the fan blades are
rotating with an angular
speed of -110 rad/s. As the
plane takes off, the angular
velocity of the blades reaches
-330 rad/s in a time of 14 s.

Find the angular acceleration, assuming it to

be constant.
8.2 Angular Velocity and Angular Acceleration


 330 rad s    110 rad s 
 16 rad s 2

14 s
8.3 The Equations of Rotational Kinematics

Recall the equations of kinematics for constant acceleration.

Five kinematic variables:

v  vo  at
1. displacement, x

2. acceleration (constant), a
x  12 vo  v t

3. final velocity (at time t), v

v  v  2ax
2 2
o
4. initial velocity, vo

5. elapsed time, t x  vot  at

1
2
2
8.3 The Equations of Rotational Kinematics

The equations of rotational kinematics for constant

angular acceleration:
ANGULAR ACCELERATION

ANGULAR VELOCITY

  o   t

  12 o    t
TIME

ANGULAR DISPLACEMENT

    2
2 2
o

  o t   t 1
2
2
8.3 The Equations of Rotational Kinematics
8.3 The Equations of Rotational Kinematics

Reasoning Strategy
1. Make a drawing.

2. Decide which directions are to be called positive (+) and

negative (-).

3. Write down the values that are given for any of the five
kinematic variables.

4. Verify that the information contains values for at least three

of the five kinematic variables. Select the appropriate equation.

5. When the motion is divided into segments, remember that

the final angularvelocity of one segment is the initial velocity
for the next.

6. Keep in mind that there may be two possible answers to a

kinematics problem.
8.3 The Equations of Rotational Kinematics

Example 5 Blending with a Blender

The blades are whirling with an

angular velocity of +375 rad/s when
the “puree” button is pushed in.

When the “blend” button is pushed,

the blades accelerate and reach a
greater angular velocity after the
blades have rotated through an
angular displacement of +44.0 rad.

The angular acceleration has a

constant value of +1740 rad/s2.

Find the final angular velocity of the blades.

8.3 The Equations of Rotational Kinematics

θ α ω ωo t
+44.0 rad +1740 rad/s2 ? +375 rad/s

 2  o2  2

  o2  2
 375 rad s 2  21740 rad s 2 44.0rad  542 rad s
8.4 Angular Variables and Tangential Variables


v T  tangentia l velocity

vT  tangentia l speed
8.4 Angular Variables and Tangential Variables



s r   t
vT    r 
t t t

vT  r ( in rad/s)
8.4 Angular Variables and Tangential Variables

  o

t

vT  vTo r   ro    o

aT   r
t t t

aT  r ( in rad/s ) 2
8.4 Angular Variables and Tangential Variables

Example 6 A Helicopter Blade

A helicopter blade has an angular speed of 6.50 rev/s and an

angular acceleration of 1.30 rev/s2.
For point 1 on the blade, find
the magnitude of (a) the
tangential speed and (b) the
tangential acceleration.
8.4 Angular Variables and Tangential Variables

 rev  2 rad 
   6.50    40.8 rad s
 s  1 rev 

vT  r  3.00 m40.8 rad s   122 m s

8.4 Angular Variables and Tangential Variables

 rev  2 rad 
  1.30    8.17 rad s 2

 s 2  1 rev 

 
aT  r  3.00 m 8.17 rad s 2  24.5 m s 2
Rotation II
9.1 The Action of Forces and Torques on Rigid Objects

In pure translational motion, all points on an

object travel on parallel paths.

The most general motion is a combination of

translation and rotation.
9.1 The Action of Forces and Torques on Rigid Objects

According to Newton’s second law, a net force causes an

object to have an acceleration.

What causes an object to have an angular acceleration?

TORQUE
9.1 The Action of Forces and Torques on Rigid Objects

The amount of torque depends on where and in what direction the

force is applied, as well as the location of the axis of rotation.
9.1 The Action of Forces and Torques on Rigid Objects

DEFINITION OF TORQUE

Magnitude of Torque = (Magnitude of the force) x (Lever arm)

  F
Direction: The torque is positive when the force tends to produce a
counterclockwise rotation about the axis.

SI Unit of Torque: newton x meter (N·m)

9.1 The Action of Forces and Torques on Rigid Objects

Example 2 The Achilles Tendon

The tendon exerts a force of magnitude

790 N. Determine the torque (magnitude
and direction) of this force about the
ankle joint.
9.1 The Action of Forces and Torques on Rigid Objects

  F


cos 55 


3.6 102 m

790 N

  720 N 3.6 102 m cos 55

 15 N  m
9.2 Rigid Objects in Equilibrium

If a rigid body is in equilibrium, neither its linear motion nor its

rotational motion changes.

ax  a y  0  0

F x 0 F y 0   0
9.2 Rigid Objects in Equilibrium

EQUILIBRIUM OF A RIGID BODY

A rigid body is in equilibrium if it has zero translational

acceleration and zero angular acceleration. In equilibrium,
the sum of the externally applied forces is zero, and the
sum of the externally applied torques is zero.

F x 0 F y 0   0
9.2 Rigid Objects in Equilibrium

Reasoning Strategy
1. Select the object to which the equations for equilibrium are to be applied.

2. Draw a free-body diagram that shows all of the external forces acting on the
object.

3. Choose a convenient set of x, y axes and resolve all forces into components
that lie along these axes.

4. Apply the equations that specify the balance of forces at equilibrium. (Set the
net force in the x and y directions equal to zero.)

5. Select a convenient axis of rotation. Set the sum of the torques about this
axis equal to zero.

6. Solve the equations for the desired unknown quantities.

9.4 Newton’s Second Law for Rotational Motion About a Fixed Axis

FT  maT

aT  r
  FT r

  mr  2

Moment of Inertia, I
9.4 Newton’s Second Law for Rotational Motion About a Fixed Axis

 1  m1r12 

   mr   2  m r 
2 2
2 2

 m r 
Net external
torque Moment of
inertia
N 2
N N
9.4 Newton’s Second Law for Rotational Motion About a Fixed Axis

ROTATIONAL ANALOG OF NEWTON’S SECOND LAW FOR

A RIGID BODY ROTATING ABOUT A FIXED AXIS

 Moment of   Angular 
Net external torque      
 inertia   acceleration 

  I 
Requirement: Angular acceleration  
I   mr 2
must be expressed in radians/s2.
9.4 Newton’s Second Law for Rotational Motion About a Fixed Axis

Example 9 The Moment of Inertial Depends on Where

the Axis Is.

Two particles each have mass and are fixed at the

ends of a thin rigid rod. The length of the rod is L.
Find the moment of inertia when this object
rotates relative to an axis that is
perpendicular to the rod at
(a) one end and (b) the center.
9.4 Newton’s Second Law for Rotational Motion About a Fixed Axis

I   mr 2   m1r12  m2 r22  m0   mL 

2 2
(a)

m1  m2  m r1  0 r2  L

I  mL 2
9.4 Newton’s Second Law for Rotational Motion About a Fixed Axis

 
(b) I   mr 2  m1r12  m2 r22  mL 22  mL 22

m1  m2  m r1  L 2 r2  L 2

I  mL
1
2
2
9.4 Newton’s Second Law for Rotational Motion About a Fixed Axis
9.4 Newton’s Second Law for Rotational Motion About a Fixed Axis

Example 12 Hoisting a Crate

The combined moment of inertia of the dual pulley is 50.0 kg·m2. The
crate weighs 4420 N. A tension of 2150 N is maintained in the cable
attached to the motor. Find the angular acceleration of the dual
pulley.
9.4 Newton’s Second Law for Rotational Motion About a Fixed Axis

equal


 y 2  mg  ma y
F  T   T 
1 1  T2 2  I

T2  mg  ma y
a y   2
9.4 Newton’s Second Law for Rotational Motion About a Fixed Axis

T1 1  mg  ma y  2  I

a y   2

T1 1  mg  m 2  2  I

T1 1  mg 2

I  m 22
2150 N 0.600 m   451 kg 9.80 m s 2 0.200 m 
  6 .3 rad s 2

46.0 kg  m 2  451 kg 0.200 m 

2
9.5 Rotational Work and Energy

s  r

W  Fs  Fr

  Fr

W  
9.5 Rotational Work and Energy

DEFINITION OF ROTATIONAL WORK

The rotational work done by a constant torque in

turning an object through an angle is

WR  

Requirement: The angle must

be expressed in radians.

SI Unit of Rotational Work: joule (J)

9.5 Rotational Work and Energy

KE  12 mvT2  12 mr 2 2

vT  r


KE   12 mr 2 2  12  mr 
2 2
 12 I 2
9.5 Rotational Work and Energy

DEFINITION OF ROTATIONAL KINETIC ENERGY

The rotational kinetic energy of a rigid rotating object is

KE R  12 I 2

Requirement: The angular speed must

be expressed in rad/s.

SI Unit of Rotational Kinetic Energy: joule (J)