Outline

1. Angular variables
2. Newton’s 2nd law for rotation
3. Work & energy in rotation
Motion of rigid bodies 4. Rolling

Le Quang Nguyen
www4.hcmut.edu.vn/~leqnguyen
[email protected]

1a. Angular position 1b. Angular speed If rotation axis

θ>0
• Every particle follows a • Angular displacement is outward
θf
circular path centered on in time interval Δt:
θi
the axis. ∆θ = θ f − θi Δθ
• Take one representative • Average angular speed:
particle with polar ∆θ
coordinates r, θ. ωav =
∆t z
Right hand rule!
• θ is the angular position of • And instantaneous one:
the rotating rigid body. r
θ
dθ
ω= rad/s
dt
Positive direction of θ
 1c. Angular acceleration 1d. Angular and linear speeds
• Average angular acceleration: s = θr
s
∆ω
α av = θ
∆t ds dθ
= r r
• and instantaneous one: dt dt
Every particle in
dω a rotating body
α= rad/s2 has the same v = ωr
dt angular speed
and acceleration

1e. Angular & linear acceleration 1f. Kinematic equations for rotation
• Tangential acceleration: at
ut
dv d (ωr ) dω
at = = =r
dt dt dt a ur
ar
at =α r
• Radial acceleration:
2
v 2 (ωr )
ar = = ar = ω2r
r r
 Checkpoint 1.1 Checkpoint 1.2
A wheel which is initially at rest starts to turn A grindstone increases in angular speed from
with a constant angular acceleration. After 4 4.00 rad/s to 12.00 rad/s in 4.00 s. Through
seconds it has made 4 complete revolutions. what angle does it turn during that time
How many revolutions has it made after 8 interval if the angular acceleration is
seconds? constant?

A) 8 B) 12 C) 16 (a)8.00 rad (b) 12.0 rad (c) 16.0 rad

(d) 32.0 rad (e) 64.0 rad

Checkpoint 1.3 2a. Second law for rotation

An object is held in place on a rotating disk by Moment of

static friction at a distance r from its center. inertia about z
Which of the following statements is not true ?
A. If the angular speed is constant, the object dω
must have constant tangential speed. Iz = τnet ,z
B. The object has a tangential acceleration dt
only if the disk has an angular acceleration.
C. If the disk has an angular acceleration, the Net torque
object has both a centripetal acceleration and about z
a tangential acceleration.
 2b. Moment of inertia 2c. Torque Positive direction
for z-axis outward

I z = ∑ mi ri 2 τ z = ± dF
i
+ when F tends to
Distance from
rotate body in the
z-axis to force
Distance from positive direction
element mi to
rotation axis
τ net ,z = d1F1 − d2F2 z- axis going
Also called rotational inertia through O,
pointing outward

Checkpoint 2.1 Checkpoint 2.2

Four identical particles,
each with mass m, are A rod is pivoted about its center. A 5-N force is
arranged in the x, y plane as applied 4 m from the pivot and another 5-N
shown. They are connected force is applied 2 m from the pivot, as shown.
by light sticks to form a The magnitude of the total torque about the
rigid body. If m = 2.0 kg and pivot (in N·m) is:
a = 1.0 m, the rotational
inertia of this array about
the y axis is:
A. 4.0 kg.m2 B. 12 kg.m2
C. 9.6 kg.m2 D. 4.8 kg.m2 A. 0 B. 5 C. 8.7
E. none of these D. 15 E. 26
 Example 2.1 Answer to example 2.1

Find the moment of inertia of a uniform thin • For a continuous

distribution of mass: (b) (CM)
hoop of mass M and radius R about: dm
(a) an axis perpendicular to the plane of the ICM = ∫ r 2dm = R 2 ∫ dm = MR 2 R
hoop and passing through its center.
(b) an axis parallel to the previous one and • Steiner’s theorem:
passing through a point on its rim. d

Ib = ICM + Md2 Axis (b) is // to

axis going
⇒ Ib = ICM + MR2 = 2MR 2 through CM

Rotational inertia of some uniform bodies Rotational inertia of some uniform bodies (cont.)
 Checkpoint 2.3 Checkpoint 2.4
A disk with a rotational inertia of 5.0 kg.m2 A disk with a rotational inertia of 5.0 kg.m2
and a radius of 0.25 m rotates on a frictionless and a radius of 0.25 m rotates on a frictionless
fixed axis perpendicular to the disk and fixed axis perpendicular to the disk and
through its center. A force of 8.0 N is applied through its center. A force of 8.0 N is applied
along the rotation axis. The angular tangentially to the rim. If the disk starts at
acceleration of the disk is: rest, then after it has turned through half a
revolution its angular velocity is:
A. 0 B. 0.40 rad/s2 C. 0.60 rad/s2
D. 1.0 rad/s2 E. 2.5 rad/s2 A. 0.57 rad/s B. 0.64 rad/s C. 0.80 rad/s
D. 1.6 rad/s E. 3.2 rad/s

Checkpoint 2.5 Example 2.2

All have the same mass and same outer Consider the system
radius, and are free to rotate about fixed axes shown.
through the centers. Identical forces are T1 = 5.0 N, R1 = 1.0 m,
applied to the rims. Rank the objects T2 = 15.0 N, R2 = 0.50 m.
according to their angular accelerations, least
What is the net torque
to greatest.
about the rotation axis,
and which way does the
cylinder rotate starting
from rest?
 Answer to example 2.2 Example 2.3
• Net torque about z-axis: Each pulley has a
τ net ,z = −R1T1 + R2T2 + moment of inertia I
and radius R.
τ net ,z = −1 × 5 + 0.5 × 15 Find the m1 m2
= 2.5( N .m ) acceleration of
each block and the
• τz > 0 ⇒ α > 0: the tensions in the cord.
cylinder will rotate in
the positive direction as
shown.

Answer to example 2.3 - 1 Answer to example 2.3 - 2

• Newton’s 2nd law for T2 • Relation between the blocks’ accelerations:
T1
m1 and m2 on y and a1 = a2 ≡ a
y’
y’-axis: • As there is no slipping:
m1a1 = m1 g − T1 y ωR = v ⇒ αR = a
m1g m2g
m2a2 = T2 − m2 g • Thus we have the following equations:
• And for left and right + T’ T’ m1a = m1 g − T1 (1)
pulley about z-axis
outward: R R m2a = T2 − m2 g (2)
Iα = R (T1 − T ′ ) Ia / R2 = T1 − T ′ (3)
T1 T2 (4)
Iα = R (T ′ − T2 ) Ia / R2 = T ′ − T2
 Answer to example 2.3 -3 3a. Rotational kinetic energy
• Taking the sum of eqs. (1) – (4), we get: • Kinetic energy of one particle of speed v, at
a distance r from the rotation axis:
 I 
m
 1 + m + 2 a = ( m1 − m2 ) g
R 2 
2 2
 K = 12 mv 2 = 12 m (ωr ) = 12 mr 2ω 2

a=
( m1 − m2 ) g • Summing over all particles, we get the
I kinetic energy of the rotating body:
m1 + m2 + 2
R2 1 
• Substituting the acceleration a back into eqs
K =  ∑ mi ri2 ω 2
2 i 
1 2
(1), (2) and (3), we can find the tensions.
K = Iω
2

3b. Work in rotation Checkpoint 3.1

F
dW = F ⋅ vdt = Fv cosα dt The pulley has R = 3.0 cm and I
α
v = ωr v = 4.5×10–3 kg.m2.
dW = ( Fr cosα )ωdt m1 = 4 kg, m2 = 2 kg.
r α When the speed of the heavier
r cosα = d block is 2.0 m/s the kinetic v
d
dW = ( Fd )(ωdt ) = τ z dθ energy of the pulley is:

θf
A. 0.15 J B. 0.30 J
W = ∫ τ z dθ B. C. 1.0 J D. 10 J
θi Power: P =τ zω C. E. 20 J
v
 Checkpoint 3.2 A uniform rod of length L Example 3.1
A circular saw is powered by a motor. When and mass m is free to
the saw is used to cut wood, the wood exerts a rotate on a frictionless
torque of 0.80 N.m on the saw blade. If the pin passing through one
blade rotates with a constant angular velocity end. The rod is released
of 20 rad/s the work done by the motor on from rest in the
the blade in 1.0 min is: horizontal position.
(a) What is its angular
speed when it reaches
A. 0 B. 480 J C. 960 J
its lowest position?
D. 1400 J E. 1800 J
(b) Find the CM’s speed at
that position.

Answer to example 3.1 - 1 Answer to example 3.1 - 2

• No friction, mechanical • Choose the y-axis
y
energy is conserved: upward:
∆E = ∆ ( K + U g ) = 0 ∆U g = mg∆yCM = −mgL 2
∆K = K f = 12 Iω 2
• Therefore:
• The gravitational
potential energy of the ∆E = 12 Iω 2 − 12 mgL = 0
The gravitational PE mL2
rod is: I=
of a rigid body is: mgL 3g 3
U g = mgyCM Ug = mgyCM ω= =
I L
 Answer to example 3.1 - 3 Example 3.2
• Linear velocity is The pulley has a radius R
related to angular and moment of inertia I
velocity: about its axis of rotation.
v = ωr The system is released
vCM from rest.
• r is the distance from
particle to rotation axis. Find the linear speeds of
• For CM r = L/2, thus: the cylinders after cylinder
2 descends through a
L L 3g 1 distance h.
vCM = ω = = 3 gL
2 2 L 2

Answer to example 3.2 Answer to example 3.2 (cont.)

• No friction, mechanical • If m1 ascends by h, m2 descends by the same
energy is conserved: distance, therefore:
∆E = ∆ ( K + U g ) = 0 ∆U g = m1 gh − m2 gh
• Change in kinetic energy: • We have then:
∆K = K f = 12 m1v12 + 12 m2v22 + 12 Iω 2 ( )
∆E = 12 m1 + m2 + I R2 v 2 + ( m1 − m2 ) gh = 0
• However:
v1 = v2 ≡ v ωR = v 2( m2 − m1 ) gh
v=
• Thus: m1 + m2 + I R 2
(
∆K = 12 m1 + m2 + I R2 v 2 )
 4a. Rolling 4b. Speed of the center of mass
• The center of mass of each wheel moves • In pure rolling there is
forward in a pure translation. no slipping.
• A point on the rim of the wheel, however, • When a point on the rim
traces out a more complex path – a cycloid. traces out an arc of
length Rθ,
• The center of mass
moves by the same
distance: s = Rθ
• Thus: ds dθ
dt
=R
dt v = Rω
CM

v v = ωr 4c. Translation & rotation combined

r
• Pure rolling is the
r r combination of: vrot
v
v the center of mass
translation, vCM
r
v: CM’s speed and the rotation about vCM
r: radius of wheel the axis going through
CM.
r
v • Thus the velocity of any
particle of the rolling
 
Circular motion v: speed of block object can be written as:
v = vCM + vrot
r: radius of circle r: radius of pulley
 4c. Translation & rotation combined (cont.) 4d. Kinetic energy of rolling
• A particle on the rim has: ‫ݒ‬Ԧ rot = ‫ݒ‬Ԧ CM • The kinetic energy of rolling is the sum of
vrot = ωR = vCM ‫ݒ‬Ԧ = 2‫ݒ‬Ԧ CM the kinetic energy of the translation,
• At the lowest position: and the kinetic energy of rotation about




v = vCM + vrot = 0 vCM the axis passing through the center of
• vcontact = 0 : static friction. mass.
‫ݒ‬Ԧ rot = – ‫ݒ‬Ԧ CM
• At the middle position: 2
K = 12 MvCM + 12 Iω 2
2 2
v = vCM + vrot = ωR 2 v
vrot
• At the highest position: • where M and I are the mass and the moment




vCM of inertia about the rotation axis of the
v = vCM + vrot = 2vCM
rolling object.

Checkpoint 4.1 Checkpoint 4.2

A forward force on the axle accelerates a A hoop rolls with constant velocity and
rolling wheel on a horizontal surface. If the without sliding along level ground. Its
wheel does not slide the frictional force of the rotational kinetic energy is:
surface on the wheel is: A. half its translational kinetic energy
B. the same as its translational kinetic energy
A. zero C. twice its translational kinetic energy
B. in the forward direction D. four times its translational kinetic energy
C. in the backward direction E. one-third its translational kinetic energy
D. in the upward direction
E. in the downward direction
 Example 4.1 Answer to example 4.1 - 1
A sphere of mass M and radius R rolls down an • In pure rolling, the
incline as shown, after being released from friction is static and
rest at the top position. Find the speed of its does no work.
center of mass at the bottom of the incline.
• Mechanical energy
of the system is
conserved:
∆E = ∆ ( K + U g ) = 0
• The change in PE is:
∆U g = Mg∆yCM = −Mgh
2
• The change in KE is: ∆K = K f = 12 MvCM + 12 Iω 2

Answer to example 4.1 - 2 Answer to example 4.1 - 3

• For pure rolling: • For a sphere I = 2MR2/5.
ω = vCM R • Thus:
• Thus: 2 gh 10 gh
vCM = =
2
∆K = 12 MvCM (
1 + I MR2 ) 1+2 5 7
• Eventually we obtain: • For a hoop I = MR2:
2
∆E = 12 MvCM ( )
1 + I MR 2 − Mgh = 0 2 gh
vCM = = gh
1+1
2 gh • Objects with smaller ratio c = I/MR2 will roll
⇒ vCM =
1 + I MR 2 down an incline faster (Example 1, 2).
 Example 4.2 Answer to example 4.2
In example 4.1, find an expression for the • Applying Newton’s 2nd N
center of mass’ acceleration. law for
• The center of mass on x
fs
axis:
MaCM = Mg sinθ − f s x
mg
• The sphere’s rotation:
Iα = f s R
• Pure rolling:
a
α = CM
R

Answer to example 4.2 (cont.) Three objects of uniform Checkpoint 4.3

• We have the following system of equations: density – a solid sphere, a
MaCM = Mg sinθ − f s solid cylinder, and a
hollow cylinder – are
( I R )a
2
CM = fs placed at the top of an
incline. They are all
• After summing and rearranging we find: released from rest at the Note: The result is
g sinθ 5 same elevation and roll independent of the
aCM = = g sinθ
1 + I MR 2 7 without slipping. (a) masses and the
• Objects with smaller ratio c = I/MR2 will Which object reaches the radii of the
have greater acceleration. bottom first? (b) Which objects.
reaches it last?