AP10005 –Physics I

AP10008 – University Physics I

Chapter 10
Rotation of a Rigid Object
about a Fixed Axis

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Intended Learning Outcomes

• To describe angular displacement, velocity and acceleration

• To apply rotational kinematic equations
• To calculate the moments of inertia of a rigid body
• To solve rotational problems via energy considerations
• To analyze the rolling motion of a rigid body

2 Intended Learning Outcomes

Rigid Object

A rigid object is one that is non-deformable.

 The relative locations of all particles making up the object remain constant.
 All real objects are deformable to some extent, but the rigid object model is
very useful in many situations where the deformation is negligible.

3 Introduction
Angular Position

Axis of rotation is the center of the disc

Choose a fixed reference line.
Point P is at a fixed distance r from the
origin.
In (b), P is located at (r, q) in polar
coordinates.
The arc length and r are related:
s
 s = q r, or q 
r
q has the unit radian.

360
1 rad   57.3
2

4 Section 10.1
Angular Position, final
We can associate the angle q with the entire rigid object as well as with an
individual particle.
 Remember every particle on the object rotates through the same angle.
The angular position of the rigid object is the angle q between the reference line
on the object and the fixed reference line in space.
 The fixed reference line in space is often the x-axis.
The angle θ plays the same role in rotational motion that the position x does in
translational motion.

5 Section 10.1
Angular Displacement

The angular displacement is defined as

the angle the object rotates through
during some time interval.
q  q f  qi
This is the angle that the reference line
of length r sweeps out.
Convention: counterclockwise as
positive.

6 Section 10.1
Angular Speed

The average angular speed, ωavg, of a rotating rigid object is the ratio of the
angular displacement to the time interval.
q
avg 
t
The instantaneous angular speed is defined as the limit of the average speed as
the time interval approaches zero.
dq
ins 
dt
This is analogous to translational speed. Units of angular speed are radians/sec.
 rad/s or s-1 since radians have no dimensions.
Angular speed will be positive if θ is increasing (counterclockwise)
Angular speed will be negative if θ is decreasing (clockwise)
7 Section 10.1
Angular Acceleration

The average angular acceleration, a avg, of an object is defined as the ratio of the
change in the angular speed to the time it takes for the object to undergo the
change.

a avg 
t
The instantaneous angular acceleration is defined as the limit of the average
angular acceleration as the time goes to 0.
d
a ins 
dt
Units of angular acceleration are rad/s² or s-2 since radians have no dimensions.
Angular acceleration will be positive if an object rotating counterclockwise is
speeding up, or if an object rotating clockwise is slowing down.

8 Section 10.1
Angular Motion, General Notes

When a rigid object rotates about a fixed axis in a given time interval, every
portion on the object rotates through the same angle in a given time interval and
has the same angular speed and the same angular acceleration.
 So q, , a all characterize the motion of the entire rigid object as well as the
individual particles in the object.

9 Section 10.1
Directions, details

Strictly speaking, the angular speed

and angular acceleration (, a) are the
magnitudes of the angular velocity and
angular acceleration vectors.
The directions are actually given by the
right-hand rule.

10 Section 10.1
Hints for Problem-Solving
Similar to the techniques used in linear motion problems.
 With constant angular acceleration, the techniques are much like those with
constant linear acceleration.
There are some differences to keep in mind.
 For rotational motion, define a rotational axis.
 The choice is arbitrary.
 Once you make the choice, it must be maintained.
 In some problems, the physical situation may suggest a natural axis, such as the
center of an automobile wheel.
 The object keeps returning to its original orientation, so you can find the
number of revolutions made by the body.

11 Section 10.2
Rotational Kinematics

Under constant angular acceleration, we can describe the motion of the rigid
object using a set of kinematic equations.
 These are similar to the kinematic equations for linear motion.
 The rotational equations have the same mathematical form as the linear
equations.
The new model is a rigid object under constant angular acceleration.
 Analogous to the particle under constant acceleration model.

12 Section 10.2
Rotational Kinematic Equations

The kinematic expression for the rigid

object under constant angular
acceleration are of the same
f  i  a t
mathematical form as those for a 1
particle under constant acceleration. qf  q i  i t  a t 2
2
Substitutions from translational to
f2  i2  2a qf  q i )
rotational are
1
 x→θ qf  q i  i  f ) t
 v→ω
2
all with consant a
 a→α

13 Section 10.2
Comparison Between Rotational and Linear Equations

14 Section 10.2
15 Section 10.2
Relationship Between Angular and Linear Quantities

Every point on the rotating object has the same angular motion.
Every point on the rotating object does not have the same linear motion.
Displacements
 s=θr
Speeds
 v=ωr
Accelerations
r1 r2
 a=αr

16 Section 10.3
Speed Comparison – Details

The linear velocity is always tangent to the

circular path,
 Called the tangential velocity
The magnitude is defined by the tangential
speed.
ds dq
v r  r
dt dt
Since r is not the same for all points on the
object, the tangential speed of every point is not
the same.
The tangential acceleration is the derivative of the
tangential velocity.
dv d
at  r  ra
dt dt
Do not mix up with the centripetal acceleration, ar.
17 Section 10.3
Rotational Motion Example
For a compact disc player to read a CD,
the angular speed must vary to keep
the tangential speed constant (vt = r).
 Typically the constant speed of the
surface at the point of the laser-
lens system is 1.3 m/s.
At the inner sections, the angular speed
is faster than at the outer sections.

18 Section 10.3
19 Section 10.3
Rotational Kinetic Energy
An object rotating about some axis with an angular speed, ω, has rotational
kinetic energy even though its center of mass may not have any translational
kinetic energy. To calculate for the associated rotational kinetic energy, we divide
the object as many small particles.
Each particle has a kinetic energy of
 Ki = ½ mivi2
Since the tangential velocity depends on the distance, r, from the axis of rotation,
we can substitute vi = ri .
The total rotational kinetic energy of the rigid object is the sum of the energies of
all its particles.
1  1
K R   K i   12 mi vi2   12 mi ri 2 2    mi ri 2  2  I 2
i i i 2 i  2
I is called the moment of inertia.

20 Section 10.4
21 Section 10.4
Moment of Inertia

The definition of moment of inertia is

I   ri 2mi
i

The dimensions of moment of inertia are ML2 and its SI units are kg.m2.
We can calculate the moment of inertia of an object more easily by assuming it is
divided into many small volume elements, each of mass mi.
Mass is an inherent property of an object, but the moment of inertia depends on
the choice of rotational axis.
Moment of inertia is a measure of the resistance of an object to changes in its
rotational motion, similar to mass being a measure of an object’s resistance to
changes in its translational motion.
 The moment of inertia depends on the mass and how the mass is distributed
around the rotational axis.

22 Section 10.5
Moment of Inertia, cont
The moment of inertia of a system of discrete particles can be calculated by
applying the definition for I.
For a continuous rigid object (such as a rod or a sphere), imagine the object to be
divided into many small elements, each having a mass of Δmi.
We can rewrite the expression for I in terms of m.
I  mi lim0  ri 2 mi   r 2dm
i
With the small volume segment assumption ( dm  rvolumedV  r surfacedA  rlineardl )
I   rvolume r 2 dV   r surface r 2 dA   rlinear r 2 dl
If r is constant, the integral can be evaluated with known geometry, otherwise its
variation with position must be known.

23 Section 10.5
 I y   r dm   L x)
2

L
2

2
2 M
L dx  M
L
 
 x )3
3
L

L
2

2
 121 ML2

I y   x)
L

0
2 M
L dx  M
L
 
 x )3
3
L
0
1
3 ML2

24 Section 10.5
25 Section 10.5
Moments of Inertia of Various Rigid Objects

26 Section 10.5
Parallel-Axis Theorem
In the previous examples, the axis of rotation coincided with the axis of symmetry
of the object.
For an arbitrary axis, the parallel-axis theorem often simplifies calculations.
The theorem states I = ICM + MD 2
 I is about any axis parallel to the axis through the center of mass of the
object.
 ICM is about the axis through the center of mass.
 D is the distance from the center of mass axis to the arbitrary axis.

27 Section 10.5
Parallel-Axis Theorem (Derivation)

ICM
xCM 
 xdm
M
28 Section 10.5
29 Section 10.5
Torque

Torque, t, is the tendency of a force to rotate an

object about some axis.
  
 Torque is a vector (t  r  F )
 t = r F sin f = F d (unit: N-m)
 F is the force
 f is the angle the force makes with displacement
vector from the rotation axis to the point of force
application
 d = r sin Φ is the moment arm (or lever arm) of the
force

 There is no unique value of the torque on an

object.
 Its value depends on the choice of a rotational axis.

30 Section 10.6
Net Torque

The force F1 will tend to cause a

counterclockwise rotation about O.
The force F2 will tend to cause a
clockwise rotation about O.
St  t1  t2  F1d1 – F2d2

31 Section 10.6
32 Section 10.6
Newton’s second law in rotational form

Consider a particle of mass m rotating in a circle of

radius r under the influence of tangential force .
The tangential force provides a tangential acceleration:
 Ft = mat
The radial force causes the particle to move in a circular
path.
The magnitude of the torque produced by åFt on a
particle about an axis through the center of the circle is

  t
t  F r  mat )r  mr a )r  mr 2
)a  Ia
t net  Ia

33 Section 10.7
34 Section 10.7
Each higher portion of the smokestack
has a larger tangential acceleration than
the points below it. The acceleration can
even be greater than g (like the case in
Example 10.8).
Such acceleration is due to the shear
force from lower portion in addition to
the gravitational force.
When the shear force is greater than the
smokestack can withstand. The
smokestack breaks.

35 Section 10.7
36 Section 10.7
Work-kinetic energy theorem for rotational motion

Consider the work done by a force on the object as

it rotates through an infinitesimal distance ds = r dq
The radial component of the force does no work
because it is perpendicular to the displacement.

dW  F// ds  F sin f rdq  tdq

d dq
 Iadq  I dq  Id  Id
dt dt
1
W   Id  I 2
2
1
KEr  I 2
2 (Rotational kinetic energy)

37 Section 10.8
Summary of Useful Equations

38 Section 10.8
39 Section 10.8
40 Section 10.8
Rolling Object

The red curve shows the path moved by a point on the rim of the object.
 This path is called a cycloid.
The green line shows the path of the center of mass of the object.
In pure rolling motion, an object rolls without slipping.
In such a case, there is a simple relationship between its rotational and
translational motions.

41 Section 10.9
Pure Rolling Motion, Object’s Center of Mass

The translational speed of the center of

mass is
ds dq
v CM  R  R
dt dt
The linear acceleration of the center of
mass is

dvCM d
aCM  R  Ra
dt dt

42 Section 10.9
Rolling Motion Cont.
Rolling motion can be modeled as a combination of pure translational motion and
pure rotational motion.
The contact point between the surface and the cylinder has a translational speed
of zero (c).

43 Section 10.9
Total Kinetic Energy of a Rolling Object

The total kinetic energy of a rolling object is the sum of the translational energy of
its center of mass and the rotational kinetic energy about its center of mass.
 K = ½ ICM 2 + ½ MvCM2
 The ½ ICM2 represents the rotational kinetic energy of the cylinder about its center
of mass.
 The ½ Mv2 represents the translational kinetic energy of the cylinder about its
center of mass.

44 Section 10.9
Accelerated rolling motion is possible
only if friction is present between the
sphere and the incline.
 The friction produces the net
torque required for rotation.
 No loss of mechanical energy
occurs because the contact point is
at rest relative to the surface at any
instant.
 In reality, rolling friction causes
mechanical energy to transform to
internal energy.
 Rolling friction is due to
deformations of the surface and the
rolling object.

45 Section 10.9
46 Section 10.9
Summary

47 Summary
Summary

48 Summary
Summary

49 Summary