OUTLINE IN GENERAL PHYSICS I

Q2 LESSON 1: ROTATIONAL MOTION

Most Essential Learning Competencies (MELCS)

1. Calculate the moment of inertia about a given axis of single -object and multiple -object systems
2. Calculate magnitude and direction of torque using the definition of torque as a cross product
3. Describe rotational quantities using vectors
4. Determine whether a system is in static equilibrium or not
5. Apply the rotational kinematic relations for systems with constant angular accelerations
6. Determine angular momentum of different systems
7. Apply the torque-angular momentum relation
8. Solve static equilibrium problems in contexts but not limited to see-saws, cable-hinge-strut system, leaning
ladders, and weighing a heavy suitcase using a small bathroom scale

I. Pre - requisite: ROTATIONAL KINEMATICS

A. MAIN IDEA
 Kinematics of rotational motion – describes the angular velocity (ω), angular acceleration (α) , and
time (t).
 Axis of rotation – the straight line through all fixed points of a rotating rigid body around which all
other points of the body move in circles. (Merriam Webster Dictionary)
 Angular Displacement - the angle of rotation (θ) as the ratio of the arc length (s) to the radius (r) of
s
the circle ( θ= ). Unit: Radian
r

 Angular Velocity (ω) - is defined as the difference in angular displacement (θ) per unit of time (t).
∆θ
Equation: ω= lim . Unit: revolutions/second (rev/s) & or radian/second (rad/s)
∆ t →0 ∆ t
¿ ¿ ¿
 Tangential Velocity vector (v) – tangential velocity v=r x ω=r r x ω ϑ =rω k . Unit: m/s.
 Angular Acceleration - is the rate at which the angular velocity changes with respect to time. It acts in
the direction of rotation in a circular motion (not the same as centripetal acceleration).
∆ω
Equation: α = lim .
∆ t →0 ∆t
 Tangential Acceleration - a tan=rα
2
 Radial Acceleration - a rad =ω r

B. Rotational Kinematics Equation

Suppose the particle is travelling around point O with an initial angular velocity of ω o at time t=0 such that
dω
angular acceleration is α =
dt
However we are interested of expressing ω in terms of t , then we integrate the equation above in terms of t

dω
∫ α dt=∫ dt
dt
and obtain
ω=α t +c
where c is arbitrary constant. Now since at t = 0 the velocity is ω o , hence c=ωo . Thus the equation above
can be rewritten into

ω=α t +ω o (a)
the first kinematics equation.

dθ
Now suppose we rewrite the equation again as =α t+ω o
dt
Thus by integrating both sides in terms of t,

dθ
∫ dt dt=∫ ( α t +ω o ) dt
then we obtain

1 2
θ= α t + ωo t+ d
2
where d is the arbitrary constant. Now say at t = 0 the particle is at θ o. hence d=θo. It follows that the
equation can be written as

1 2
θ= α t + v 0 t+θ o (b)
2
the third kinematics equation.

Now suppose we express the velocity in terms of displacement, hence we do multiplication of both sides by
a we obtain
1 2 2
α θ= α t + α ω o t +aθ 0(b .1)
2
By inserting (a) to (b.1), the equation becomes
2 2
ω =ω o + 2α ( θ−θ o ) (c )

the second kinematics equation.

SUMMARY:

C. EXAMPLES

1. A disc in a DVD player starts from rest, and when the user presses “Play”, it begins spinning..The disc
is spins at 160 radians/s after 4.0 s. What was the average angular acceleration of the disc?
 Answer:
Given:
T1 = 0 T2= 4.0 s
ω1 = 0 ω2 =160 rd/s
Find:
Angular acceleration (α) =?
Solution:

Between the initial and final times, the average angular acceleration of the disc was 40.0 radians/s 2.

2. As a car starts accelerating ( from rest ) along a straight road at a rate of 2.4 m/s2, each of its tires
gains an angular acceleration of 6.86 rad/s2.  Calculate (a) the radius of its tires, (b) the angular speed
of every particle of the tires after 3.0s, and (c) the angle every particle of its tires travels during the
3.0-second period.

Answer
Given: ω1 = 0 (from rest) at = 2.4 m/s2 α = 6.86 rad/s2 Δt = 3.0 s
Find: a) r b) ω2 c)  θ
Solution: 
a. From the equation    
atan = rα, we get r = atan /α   = [2.4 m/s2] / [6.86 rad/s2]    = 0.35m

b.  From the equation

α  = (ω2- ωi1)/Δt,  we get
α Δt = ω2- ω1 
ω2= ω1+ α Δt   
ω2= 0 +(6.86rad/s2)(3.0s) = 21 rad/s.

c.  θ = (1/2)α t2 + ω0t   = (1/2)( 6.86 rad/s2)(3.0s)2 + (0) (3.0s) = 31 rad.

D. ASSESSMENT
Solve the following in a clean sheet of paper. Show your solution and box your final answer. (2 points each)

1. Mark bought a pizza of a radius of 0.5 m. A fly lands on the pizza and walks around the edge for a
distance of 80 cm. Calculate the angular displacement of the fly?
2. What is the angular velocity of an object traveling in a circle of radius 0.75 m with a linear speed of
3.5 m/s?
3. What is the angular acceleration of a ball that starts at rest and increases its angular velocity
uniformly to 5 rad/s in 10 s?

II. Lesson Proper: ROTATIONAL EQUILIBRIUM AND DYNAMICS

A. MAIN IDEA
 Torque (τ) (Moment of Force) – is a result of force that causes rotation about an axis. It is the cross
product of the vector Force and the distance from the axis of rotation.
Torque vector is written as:
⃑ ⃑ ⃑
τ =r x F
where
⃑ ⃑ ⃑
τ is torque, r represents the distance of force from the axis of rotation, & F
denotes force.

Magnitude of Torque Vector τ :

 |⃑τ|=|r⃑ x ⃑F|
|⃑τ|=|r⃑||⃑F| sinθ or
τ =rFsinθ
where
θ is the angle between r and F. SI unit: Nm

FBD

 Static Equilibrium – analogous to the law of inertia. It occurs when the object is neither rotating nor
translating.

Law of Inertia – the body at rest (in motion) remains at rest (in motion) unless acted upon by
external force.

Rotational Equilibrium – An object which is not rotating remains not rotating unless acted on by
an external torque. Similarly, an object rotating at constant angular velocity remains rotating
unless acted on by an external torque.

Conditions:
⃑
1. The net force acting on the object must be zero: ∑ F=0
2. The net torque acting on the object must be zero: ∑ τ=0

B. NEWTON’S LAWS IN ROTATIONAL MOTION

 1st Law of Rotational Motion:

- A body in motion at constant angular velocity will continue in motion at the same angular velocity,
unless acted upon by some unbalanced external torque.
 2nd Law of Rotational Motion:
- When an unbalanced external torque acts on a body with moment of inertia, I, it gives that body an
angular acceleration α, which is directly proportional to the torque and inversely proportional to the
moment of Inertia I.

Mathematically, Alternative derivation:

⃑ ⃑ getting the vector product of both sides
F=m a
by r⃑
⃑ ⃑ ⃑ ⃑ where
 ⃑ ⃑
F=m a multiplying both sides with r
⃑ ⃑ ⃑
where r F=τ and a=rα
r F=rm a
τ =( rm ) ( rα )
2 2
τ =m r α ; I =m r
τ =Iα

 3rd Law of Rotational Motion:

- If body A and body B have the same axis of rotation, and if body A exerts a torque on body B, then
body B exerts an equal but opposite torque on body A.

C. ROTATIONAL WORK

W =Fd where d=s=rθ (rotational motion)

W =Frθ; Fr=τ
W =τθ

D. ROTATIONAL KINETIC ENERGY

1 2
K= mv v =rω(rotational motion)
2
1 2 1 2 2 2
K= m( rω) = mr v ; mr =I
2 2
1 2
K= I ω
2

E. ANGULAR MOMENTUM
- is a quantity that tells us how hard it is to change the rotational motion of a particular spinning body.
The angular momentum can be written as:

L=r x p
where
L is the angular momentum vector of the object;
r is the displacement of the particle from the point of rotation and
p is the linear momentum vector

Magnitude of Angular Momentum:

¿ ¿ 2 ¿ ¿
L=r x p=r r x mrωθ =mr ω k Iω k
L=I ω

The higher the angular momentum of the object, the harder it is to stop.

Conservation of Angular Momentum

- The momentum of a system will not change unless an external torque is applied.”
Lf =Li (Final momentum=Initial momentum)

SUMMARY:
 F. SAMPLE PROBLEM:

^
1. A Force of ( 4 i−3 ^j+5 k^ ) N is applied at a point whose position vector is ( 7 i+4
^ ^j−2 k^ ) m . Find the
Torque of force about the origin.

Solution:
⃑
^
F=( 4 i−3 ^j+5 k^ ) N
⃑ ^ 4 ^j−2 k^ ) m
r =( 7 i+

| |
i^ ^j ^k
⃑ ⃑ ⃑ ^ ( 35+8 ) ^j+ (−21−16 ) k^ =( 14 i−43
^ ^j−37 k^ ) Nm
τ =r x F= 7 4 −2 =( 20−6 ) i−
4 −3 5

2. A crane has an arm length of 20 m inclined at 30º with the vertical. It carries a container of mass of 2
ton suspended from the top end of the arm. Find the torque produced by the gravitational force on the
container about the point where the arm is fixed to the
crane. [Given: 1 ton = 1000 kg; neglect the weight of the
arm. g = 9.8 m/s2]

Solution:

τ =rFsinθ where F=weight=mg

¿ r (mg)sinθ
¿( 20 m)(2000 kg)(9.8 m/ s 2)( sin30)
5
τ =1.96 x 10 Nm

Note: θ is the angle between r and F

3. Consider the door shown in the figure, which is seen from an aerial view. The circle on the left is the
hinge (pivot point).
a. Find the Net Torque acting on the door.
b. Which way will the door open, up or down?

Solution:

a. τ net=τ 1+ τ 2 +τ 3 + τ 4
τ 1 =r F 1 sinθ=( 0 )( 60 N ) sin 90=0
τ 2=r F 2 sinθ= ( 0.20 m) ( 50 N ) sin 90=10 Nm
τ 3 =r F 3 sinθ =( 0.2 m+0.6 m ) ( 70 N ) sin 90=56 Nm
τ 4=r F 4 sinθ =( 0.2m+0.6 m+0.2 m )( 80 N ) sin 30=40 Nm

Before adding the torque, determine their corresponding direction according to the rotation of the door.
τ 1 has no rotation since the torque is zero
τ 2 and τ 4: pulling the door upward would make it rotate in the CCW direction (+)
 τ 3 : pulling the door downward would make it rotate in the CW direction (-)

τ net=0+10 Nm+ (−56 Nm ) +40 Nm=−6 Nm

b. Since the result of the net torque is negative, this means that the door will rotate in the clockwise or downward
direction.

4. A 0.15kg meterstick is supported at the 50cm mark. A mass of 0.5kg is attached at the 80cm mark.
a. How much mass should be attached to the 40cm
mark to keep the meterstick horizontal?
b. Determine the supporting force from the fulcrum on
the meterstick.

Solution:
a. From the 2nd condition of Equilibrium:
∑ τ=0 → τ 1 +τ 2=0
Where τ 1 is the torque caused by the force exerted by mass m
τ 2 is the torque caused by the force exerted by the 0.5kg mass
Hanging mass m would cause the stick to rotate in the CCW direction, thus τ 1 is (+)
Hanging the 0.5kg-mass would cause the stick to rotate in the CW direction, thus τ 2is (-)

∑ τ=τ 1−τ 2 =r 1 F 1 sinθ−r 2 F2 sinθ =0 where F=weight=mg

[( 0.10 m)(m)(9.8 m/s ) sin 90 ]−[ ( 0.30 m) (0.5 kg)(9.8 m/s 2)sin 90 ]=0
2

2 2 2 2
(0.98 m /s )m−1.47 Nm=0 → m=1.47 Nm/0.98 m /s ¿=1.5 kg
m=1.5 kg 17

b. From the 1st condition of Equilibrium:

⃑ ⃑ ⃑ ⃑ ⃑
∑ F=0= F 1+ F 2 + Fm + F f =0
⃑
Where F 1=w=m 1 g is the downward force due to mass m 1=1.5 kg
⃑
F =w=m 2 g is the downward force due to mass m2=0.5 kg
⃑2
F =w=mg is the downward force due to the mass of the meterstick
⃑m
F f =¿ is the upward force exerted by the fulcrum to support the weight of the meterstick and masses
⃑ ⃑ ⃑ ⃑ ⃑ ⃑ ⃑ ⃑
− F 1− F2 −F m + F f =0 → F f = F1 + F 2+ F m =m1 g+m2 g+ mg
⃑ 2 2 2
F f =(1.5 kg)(9.8 m/ s )+(0.5 kg)( 9.8 m/s )+(0.15 kg )( 9.8 m/s )
⃑
F f =21.07 N

5. A firefighter who weighs 800N climbs a uniform ladder and stops one-third of the way up the
ladder. The ladder is 5m long and weighs 180N. It rests againsts a vertical wall making an
angle 53º with the ground. Find the normal and the frictional forces on the ladder at its
base.

Solution:

We first contruct the Free-Body Diagram to identity the forces

present.

Since the Normal Force is located at the y-axis, we get the net force along this
axis.

∑ F y =0
N−W p−W l =0
 N=W p +W l=800 N +180 N
N=980 N

To solve the friction Force, we use get the net force along the x-axis.
∑ F x =0
F−f =0 → F=f
To solve for F, we use the 2nd condition of equilibrium. ∑ τ=0
τ N −τ ℘ −τ Wl +τ F =0

r N Nsinθ−r ℘ W p sinθ−r wl W l sinθ +r f Fsinθ=0

−r N Nsinθ +r ℘ W p sinθ+r wl W l sinθ

F=
r f sinθ

F=
( 0 ) ( 980 Nsinθ ) + ( 13 ) ( 5 m )( 800 N ) ( sin 37 ° )+ ( 2.5 m) ( 180 N ) (sin 37 °)
( 5 m ) sin 53°

0+802.42 Nm +270.82 Nm
F= =268.98 N =f
3.99 m

6. Janelle uses a 20cm long wrench to tighten a nut. The wrench handle is
tilted 30º above the horizontal and Janelle pulls straight down on the end
with a force of 100N. How much torque does Janelle exert on the nut?

Solution:

τ =r F⊥ =rFsinθ
τ =( 0.20 m )( 100 N ) ( sin 60° ) =17.3 Nm

7. A flywheel of mass 182kg has a radius of 0.62m (assume the flywheel is a hoop).
a. What is the torque required to bring the flywheel from rest to a speed of 120rpm in an interval of 30 sec?
b. How much work is done in this 30-sec period?

Solution
a. τ =rF=r ( ma )=rm ( rα ) where α=(∆ ω /∆ t)

τ =m r ( )
2 ∆ω
∆t
=mr (
2 ω f −ωi
∆t
=mr )
2 ωf
∆t ( )
where ωi =0(¿ rest )

[ ]
rad
12.57
s
τ =( 182 kg ) ( 0.62 m) =29.31 Nm
30 s

Rememeber to be consistent with the units.

Conversion of the angular velocity ω in rad / sec:

(
ω f = 120 )(
rev 2 πrad
min 1 rev )( 601 minsec )=12.57 rad /sec
b. W =τθ where θ=ωave ∆ t

8. A 1.20kg disk with a radius of 10.0 cm rolls without slipping. The linear speed of the disk is 1.41m/s.
a. Find the translational KE.
b. Find the rotational KE.
c. Find the total kinetic energy.
Solution:

1 2 1 2
a. K trans= m v = ( 1.20 kg ) (1.41 m/ s) =1.19 J
2 2
1 2 1 1
b. K rot = I ω = ( m r )
2 2 2
2
r ()
v 2 1
4
2 1
4
2
= m v = ( 1.20 kg ) (1.41 m/s) =0.596 J
c. K tot =K trans + K rot=1.19 J +0.596 J =1.79 J

9. A bowling ball that has an 11cm radius and a 7.2kg mass is rolling
without slipping at 2.0m/s on a horizontal ball return. It
continues to roll without slipping up a hill to a height h before
momentarily coming to rest and then rolling back down the hill.
Model the bowling ball as uniform sphere and calculate h.

Solution:

Since the problem involves the presence of kinetic K , and potential energyU , we use the conservation of mechanical
energy to calculate h.

∆ E=0 → E f −Ei=0→ Ef =Ei

where Ei =K i + U i and E f =K f +U f

K f +U f =K i +U i
1 2❑ 1 2 1 2
mg hf + mv f =mg h i+ m v i + I ω ; v❑f =0∧hi=0
2 2 2
1 1 2
mg hf + 0=0+ m v 2i + I ω2 ; I sphere = m r 2∧ω=v /r
2 2 5
2
1 2 1 2 2 v 1 2 1 2
m v i + ( mr )( ) m vi + m v
2 2 5 r 2 5
hf= =
mg mg

( )
2
1 2.0 m 1 2.0 m 2
(7.2 kg) + (7.2 kg)( )
2 s ❑ 5 s
hf = =0.29 m
9.8 m
(7.2 kg)( 2 )
s

10. An ice skater with a moment of inertia of 1.2kg.m 2 initially spins at a rate of 1
revolution every 0.8seconds, when her arms and one leg are extended outward.
a. Find her angular speed
b. Find her angular momentum.
c. When she pulls her arms and legs inward, her moment of inertia changes to
0.9kg.m2. Find her angular speed.

Solution:

2π 2π
a. ω= = =7.85 rad / sec
T 0.8 sec
b. L=Iω=( 1.2 kg m ) (
2 7.85 rad
sec ) 2
=9.42 kg . m / sec
c. Lf =Li (Conservation of Angular Momentum)
I i ωi 9.42 kg . m2 / sec
I f ω f =I i ωi →ω f = = 2
=10.47 rad /sec
If 0.9 kg m
 G. ACTIVITY

Find the mass of objects.

References:

Mai A. Dal, et.al. “General Physics I Quarter 2 Module 1: Rotational Equilibrium and Rotational
Dynamics.” (2020).
Teacher Made Handouts
FIRST SUMMATIVE TEST IN PHYSICS 1

Solve the following in step – by – step manner. Box your final answer. (5 points each)

1. Calculate the moment of inertia of a 25 kg hemisphere whose radius is 1.0m along x,y and z axis.
2. Suppose a force of (1N, 2N, 3N) is applied to a point on the rod at (1cm, -2cm, 3cm) from the wall whose other
end is attached. Calculate the magnitude and direction of torque of the rod.
3. Suppose a force is applied to a rod whose other end is attached to the wall. If the direction of the force is the
same of rod’s moment of arm determine whether the rod is at static equilibrium or not.
4. Describe the angular velocity vector of a particle orbiting the center if it completes the orbit by 100 times in just
20 seconds.

5. Suppose a force of (1N, 4N, 3N) is applied to a point on an object with moment of arm vector (1m, 1m, 2m) in 6s.
Calculate the magnitude of the angular momentum of the object.
6. Determine the angular acceleration of the Ferris wheel rotating with a constant velocity.

7. Determine the torque of an object whose rotational inertia is proportional to the square of the position of its
center of mass from the fixed point if the rate of change of angular momentum is L.

1 2
8. A cylinder of mass m and radius R has a moment of inertia of mr .
2
The cylinder is released from rest at a height h on an inclined plane,
and rolls down the plane without slipping. What is the velocity of the
cylinder when it reaches the bottom of the incline? (Mai A. Dal, et.al.,
2020)
9. A uniform solid cylinder, sphere, and hoop roll without slipping from rest at the top of an incline. Find out which
object would reach the bottom first. (Mai A. Dal, et.al., 2020)

Challenge: (5 points)

10. Suppose the center of mass of the system of two perpendicular planes is at P. We denote x 2 and x3 be distances
of O from X2 and X3 plane respectively. If the system has mass density of p, show that
I 1= p∫ ( x ¿ ¿ 2¿ ¿2+ x 3 )dV ¿ ¿, where V = V(x1,x2,x3).
2

Scoring system:
5 points – No error in calculation
3 points – Contains small error in calculation
1 point – absolutely wrong solution and answer
0 point – does not write anything

GENERAL PHYSICS 1: QUARTER 2

FIRST PERFORMANCE TASK (research group – good for 5 days brainstorming)
1. Suppose an object P moves from A to B around fixed point O at time t. Denote
OA = r1 & OB = r2. Determine the velocity of a particle around O.
a. When does orbit be circular? Give the conditions.
b. If the orbital velocity of a planet is given by relation v 2 ∝1/r . Show that the
total time of orbiting its own axis is described by the relation T 2 ∝ r 3.
2. Refer to item #1, create problem and show your solution about the motion of
Ferris wheel, etc. (real life)
Criteria:
Creativity – 5 points
Content – 10 points
 Statement & Solution #1
 Answer #1
 Statement & Solution #2
 Answer #2
 Free – Body Diagram
 Neatness – 5 points
TOTAL: 20 points

Points per criterion:

100% - No error and also contains very strong argument.
80% - have small errors but still leads to right answer.
60% - many errors like misconceptions, etc.
40% - Absolutely wrong
0% - does not write anything