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 ROTATION MOTION

ROTATIONAL MOTION

1. KINEMATICS OF SYSTEM OF PARTICLES It is always along the axis of the motion.

(c) Angular Acceleration
1.1 System of particles can move in different ways as observed
Angular acceleration of an object about any point is rate of
by us in daily life. To understand that we need to understand
change of angular velocity about that point.
few new parameters.
(a) Angular Displacement A
A B
Consider a particle moves from A to B in the following figures. B

A
A B
B

d d
 
O O dt dt
2
Angle is the angular displacement of particle about O. Units  Rad/s
Units  radian It is a vector quantity. If  is constant then similarly to
(b) Angular Velocity equation of motion (i.e.)
The rate of change of angular displacement is called as  t are related  = 0 + t
angular velocity.
1
A   0 t  t 2
2
A B
B
f2  02  2
1.2 Various types of motion

(a) Translational Motion

System is said to be in translational motion, if all the particles
lying in the system have same linear velocity.
O
O Example

d d
 
dt dt

Units  Rad/s
It is a vector quantity whose direction is given by right
hand thumb rule.
According to right hand thumb rule, if we curl the fingers of
right hand along with the body, then right hand thumb gives
Motion of a rod as shown.
us the direction of angular velocity.
 ROTATION MOTION

Example
vp
P
a
r
O

Motion of body of car on a straight rod.

In both the above examples, velocity of all the particles is   
v p   r
same as they all have equal displacements in equal intervals
   
of time. a    r  2 r
(b) Rotational Motion Example
A system is said to be in pure rotational motion, when all the B vB
points lying on the system are in circular motion about one
common fixed axis.
A
L
B
L/2
A
C B
O
O A
B L
A vB = L and v A  , with directions as shown in figure.
D 2
O B
A Now in rotational + translational motion, we just superimpose
velocity and acceleration of axis on the velocity and
In pure rotational motion.
acceleration of any point about the axis. (i.e.)
Angular velocity of all the points is same about the fixed
P
axis.
(c) Rotational + Translational
A system is said to be in rotational + translational motion, Q O v
when the particle is rotating with some angular velocity j
about a movable axis.
For example : i

vPO  Riˆ

v v v0  v ˆi
O
  
 v P  v0  v PO
  
 v P  v PO  v O
v = velocity of axis.
 = Angular velocity of system about O. R  viˆ

1.3 Inter Relationship between kinematics variable Similarly v QO  Rjˆ
In general if a body is rotating about any axis (fixed or 
v0  v ˆi
movable), with angular velocity  and angular acceleration
 then velocity of any point p with respect to axis is 
 v Q  v ˆi  R ˆj
      
v   r and a    r  2 r .
Inter-relation between v of axis and  or a of axis and 
i.e., depends on certain constraints.
ROTATION MOTION

General we deal with the case of no slipping or pure rolling. Torque  = rf sin  about a point O.
Where r = distance from the point O to point of application
of force.
v f= force
O No slipping
 
 = angle between r and f

vP Platform
A f
The constraint in the above case is that velocity of points
of contact should be equal for both rolling body and
playfrom. r

(i.e.) v – r = vP
If platform is fixed then  Torque about O.
 A is point of application of force.
vP = 0  v  r
Magnitude of torque can also be rewritten as
An differentiating the above term we get
  rf  or   r f where
dv r d f  = component of force in the direction  to r .
 .
dt dt

r = component of force in the direction  to f .
dv
Now if a Direction :
dt
v Direction of torque is given by right hand thumb rule. If we
a 
d curl the fingers of right hand from first vector  r  to second

dt 

vector f then right hand thumb gives us direction of their
then a  r cross product.
 Torque is always defined about a point or about an axis.
Remember if acceleration is assumed opposite to velocity
 When there are multiple forces, the net torque needs to be
dv dv
then a   instead of a  . calculated, (i.e.)
dt dt   
net  F  F  ........... F
1 2 n

d
Similary : If  and  are in opposite direction the    . All torque about same point/axis.
dt
If    0, then the body is in rotational equilibrium.
Accordingly the constraints can change depending upon
the assumptions.  If  F  0 along with    0 , then body is in mechanical
equilibrium.
2. ROTATIONAL DYNAMICS  If equal and opp. force act to produce same torque then
they constitutes a couple.
2.1 Torque
 For calculating torque, it is very important to find the eff.
Similar to force, the cause of rotational motion is a physical point of application of force.
quantity called a torque.  Mg  Acts at com/centre of gravity..
Torque incorporates the following factors.
 Amount of force.
 Point of application of force.
 Direction of application of force.  N  Point of application depends upon situation to
Combining all of the above. situation.
 ROTATION MOTION

2.2 Newtwon’s Laws

   I.
 I = moment of Inertia
r
  = Angular Acceleration. 2m

2.3 Moment of Inertia

 Gives the measure of mass distribution about on axis.

 I   m i ri2
th
ri  distance of the i mass from axis. axis
 Always defined about an axis.
I axis   r 2 dm

3. MOMENT OF INERTIA
r1
M1 3.1 Moment of inertia of Continuous Bodies
r4 r2
M4 M2 When the distribution of mass of a system of particle is continuous,
r3 the discrete sum I   m i ri2 is replaced by an integral. The
M3
moment of inertia of the whole body takes the form

r
2
I dm

I  M1r12  M 2 r22  M 3 r32  M 4 r42

2
 SI units  kgm
 Gives the measure of rotational inertia and is equavalent to r dm
mass.
(a) Moment of Inertia of a discreet particle system :

M1 Keep in mind that here the quantity r is the perpendicular distance

to an axis, not the distance to an origin. To evaluate this integral,
r1 r2 we must express m in terms of r.

M2
Comparing the expression of rotational kinetic energy with
2
1/2 mv , we can say that the role of moment of inertia (I) is
same in rotational motion as that of mass in linear motion. It
r3 is a measure of the resistance offered by a body to a change
axis in its rotational motion.
M3
3.2 Moment of Inertia of some important bodies
I  M1r12  M 2 r22  M3 r32
(b) Continuous Mass Distribution 1. Circular Ring
For continuous mass distribution, we need to take help of Axis passing through the centre and perpendicular to the plane
integration : of ring.
 ROTATION MOTION
2
I = MR (b) Axis passing through an end and perpendicular to the
rod:
axis R
M 2
I
3

2. Hollow Cylinder
2
I = MR

3.3 Theorems on Moment of Inertia

hollow
1. Parallel Axis Theorem : Let Icm be the moment of inertia
of a body about an axis through its centre of mass and Let Ip be
axis the moment of inertia of the same body about another axis which
is parallel to the original one.
3. Solid Cylinder and a Disc
If d is the distance between these two parallel axes and M
About its geometrical axis : is the mass of the body then according to the parallel axis theorem :
1
I MR 2 ICM
2 IP

d
solid

CM P
axis

4. (a) Solid Sphere 2

Ip = Icm + Md
Axis passing through the centre :
2
2. Perpendicular Axis Theorem :
I = 2/5 MR
Consider a plane body (i.e., a plate of zero thickness) of mass M.
Let X and Y axes be two mutually perpendicular lines in the plane
of the body. The axes intersect at origin O.

Z
(b) Hollow Sphere
Axis passing through the centre : Y
2
I = 2/3 MR
5. Thin Rod of length l : X
(a) Axis passing through mid point and perpendicular to the
length :
Let Ix = moment of inertia of the body about X–axis.
Let Iy = moment of inertia of the body about Y–axis.
The moment of inertia of the body about Z–axis (passing through
O and perpendicular to the plane of the body) is given by :
Iz = Ix + Iy
M 2
I The above result is known as the perpendicular axis theorem.
12
 ROTATION MOTION

3.4 Radius of Gyration (compare with linear momentum p = mv in linear motion)

L is also a vector and its direction is same as that of  (i.e. clockwise
If M is the mass and I is the moment of inertia of a rigid body, then
or anticlockwise)
the radius of gyration (k) of a body is given by :
We knows,
I  
k L  I
M
 
dL d 
4. ANGULAR MOMENTUM (L) AND IMPULSE I  I  = 
dt dt net

4.1 Angular Momentum 4.2 Conservation of angular momentum


(a) For a particle If  net  0
Angular momentum about origin (O) is given as : 
dL
      0
L  r  p  r   mv  dt

where r = position vector of the particle ; v = velocity  L = constant
 
y  Lf  Li

4.3 Angular Impulse

v
A  

r 
J   dt  L

r 5. WORK AND ENERGY

x
O
5.1 Work done by a Torque
 L = mv r sin  = mv (OA) sin  = mvr
Consider a rigid body acted upon by a force F at perpendicular
where r = perpendicular distance of velocity vector from O. distance r from the axis of rotation. Suppose that under this force,
(b) For a particle moving in a circle the body rotates through an angle .

For a particle moving in a circle of radius r with a speed v, its linear Work done = force × displacement
momentum is mv, its angular momentum (L) is given as : W = F r. 

L  mvr  mvr W = 

Work done = (torque) × (angular displacement)

mv dW d
Power    
r dt dt

5.2 Kinetic Energy

(c) For a rigid body (about a fixed axis) Rotational kinetic energy of the system
L = sum of angular momentum of all particles
1 1
 m1 v12  m 2 v 22  ......
= m1v1r1 + m2v2r2 + m3v3r3 + ...... 2 2

 m1r12   m 2 r22   m 3 r32   ...... (v = r) 1 1

 m1r12 2  m 2 r22 2  .........
2 2
 
 m1r12  m 2 r22  m 3 r32  ......   L = I
 ROTATION MOTION


1
2
 
m1r22  mr22  m 3 r32  ......... 2 (ii) K 
1 
Icm 2  MVcm
2

2 2
1 2
Hence rotational kinetic energy of the system = I
2
M
The total kinetic energy of a body which is moving through space cm Vcm
as well as rotating is given by : A
K = Ktranslational + Krotational P

1 2 1 where (a) IP = Icm + MR2 (parallel axes theorem)

K MVCM  I CM 2
2 2
(b) Vcm = R [pure] rolling condition.
where VCM = velocity of the centre of mass 4. Forward Slipping
ICM = moment of inertia about CM
 = angular velocity of rotation H
v v+
6. ROLLING v + C = v
L
1. Friction is responsible for the motion but work done or v f v–
v=0
dissipation of energy against friction is zero as there is Translation Rotation Rolling (Sliding)
no relative motion between body and surface at the point
of contact. The bottom most point slides in the forward direction w.r.t.
2. In case of rolling all point of a rigid body have same angular ground, so friction force acts opposite to velocity at lowest
speed but different linear speed. The linear speed is point i.e. opposite to direction of motion e.g. When sudden
maximum for the point H while minimum for the point L. brakes are applied to car its ‘v’ remain same while ‘r’
decreases so its slides on the ground.
H H H 5. Backward Slipping
v v+
C v + C = C v
L v v+
v v–
L L v + v
=
Translation Rotation Pure Rolling
v –v f
v=0
3. Condition for pure rolling : (without slipping)
Translation Rotation Rolling (Sliding)

The bottom most point slides in the backward direction

Vcm w.r.t. ground, so friction force acts opposite to velocity
(i) A i.e. friction will act in the direction of motion e.g. When
B car starts on a slippery ground, its wheels has small ‘v’
but large ‘r’ so wheels slips on the ground and friction
general (when surface is moving) acts against slipping.
in terms of velocity : Vcm –R = VB 6.1 Rolling and sliding motion on an inclined plane
in terms of rotation : acm – R = aB
special case (when VB = 0)
in terms of velocity : Vcm = R
in terms of acceleration : acm  R h h
(ii) Total KE of Rolling body :

1 Pure Rolling Sliding

(i) K  I P 2 OR
2
 ROTATION MOTION

Physical Quantity Rolling Sliding Falling

Velocity VR  2gh  /  VS  2 gh VF  2 gh

Acceleration aR = g sin / aS = g sin  aF = g

Time of descend t R  1 / sin  2h / g  t S  1 / sin   2h / g t F  2h / g

(where  = [1 + I/Mr2])

 Velocity of falling and sliding bodies are equal and is more than rollings.
 Acceleration is maximum in case of falling and minimum in case of rolling.
 Falling body reaches the bottom first while rolling last.
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