BODYI .

Dynamics .

1 :
ANGULAR MOMENTUM OF A RING OF RADIUS R AND MASS M (Rotating about the center)

It
Each particle the (mass dm) has angular momentum
& in
ving
about the o axis .
do=dmR"w FOR A SINGLE
0
PARTICLE
momentum Lo= MRW
& Angular L= mUr
- Mr Io

Energy I MRW
-

dt *
↓Io
:

Io

Torque To = MR22 A Each particle the has Kinetic dEK=Edmo 2

· in
ring energy
Io
dEx=dmR2 w
inertia to
Io : Moment of equivalent mass .

E
2 :
PLANAR MOTION

ATRANSLATIONS E macm
En
=

#
.

AROTATIONS To -

To L
& NOW
torque and angular
Three equations for each
object : momentum are
defined
about an axis
,
not
point
a

Ex=max Fy= may To =

Toa

3 -

:
MOMENT OF INERTIA ABOUT AxiS O .

·
Collection
ridistance
of particles
to axis o
:
Io= miri
? ·
continuous media :
Jo =

Jr2dm
For M and radius about axis
ring of mess R 0
·
a .

"
t Io=fridm / dm Mr
=

distribution

I
-

The mass .

AMOMENT OF INERTIA DEPENDS ON : -

The shape .

The axis
position .
APARALLEL AXS THEOREM Relates I (M)
:

for parallel exes (One of them through

S Io =

ICM + Md2

APERPENDICULAR AXS THEOREM : Relation betwee three

perpendicular axes .

: It =

2x +

Iy

*
If an object consists of different parts with know I : the total moment
of inertia is the

sum
of the
parts .
(BUT ALWAYS ABOUT THE SAME AXIS) .

AREMARK Position arbitrary

of O is not
:

11) CM is
always valid

(2) We
may choose a
fixed point .

EXAMPLE Find the acceleration

:

angular of the
ring about
ocfixed point) .

.
⑤
-..
to =

Io2 MyRsinO= CMRL

e
Io =

Md +

IcM
↓
=
CMR 2 =

ind_ gai
MR
There should be a
force acting on 0 otherwise
is
,

e the
MgRsinO falls down but don't need it to
=

ring ,
we

find 2 .

EXAMPLE A thin rod AB

:

of length i is
placed vertically on the ground ,
its
upper end is
sligthly

tapped so that it starts

falling ,
friction at B is high enough so is doesn't stip . Icm =

I me"

Find the acceleration O the the horizontal

angular as a function of ,
angle with .

A
m())x
·
/
t0=15cm
/
+

N ,o =
d =
cost

mg2cosO [B = 2
=

->

#1 ~mg ~my
IB =

Eme
 Additionaly , find the normal and the friction force .

A
We need to add 2nd Newton's law : a
=

Ra =

Ea
N10
La ->
X :

Ff
=

m .
ax ax =

< & sinc

#1 ~mg
y
:

N-mg
=

m .

Ay ay=x = cosa
ax
O
--as-- Ff =
m
gcosOsin
. . . . . .

N
=

mg (1 -cos20) -

L ROLLING
:
OBJECTS ·

A If there are no
pivot points and a to
torques should be calculated around the cM
,
.

A Pure
rolling s =x
:

: Ru =

vem

R E =

vem

* Relative motion :
POINT ON
THE GROUND
1
C) From the center of mass ,
the velocity of the lowest
point is WR

~ FB
the
VA VB =

WR (To
left)
- 7
>B CM
12) From the ground the velocity of the point in contact is
TAB

* VB IB
>

A GROUND =
+ = v =

VCM-WR

EXAMPLE A center of the wheel The friction

force F applied to the between the wheel and the
:

is .

surface is
given by Ms
=

0 5 and
. MK
=
0 2 .
.
The wheel has a mass m
,
radius R and Icm =
ZmR2 .

Find the acceleration of the wheel as F is increased .

I Newton's 2nd Law : Let's assume it rolls (No

slipping)
cr ,

F -

Ff =

m .

a a =
2R

<If
-

Torque (about CM) : F -

EMa =

ma

As we
pull harder we need ,
F
a
larger If to prevent from RFf= ICM < a
=
*
* and Ff= Is
slipping .
m
The maximum
friction force is
MsN=usmg=> Maximum force we can
apply before it slides :

F =

3usmg
 ROLLING MOTIONS
OF .

Aslidding motion

skidding motion
a)
->
VCM > WR (2)
Slipping motion
-
>
VCM < WR

In
Up Vcm WR
Up
-

o
=

Is
5 -WORK AND ENERGY
: .

Akinetic Rotational Translational

energy
+

: .

EK= I MV + II am we

If there is a fixed point we can use Ex= Iow

A
gravitational potential energy Ep =Mghcm
:

A Work done constant angle 0:

by torque over an S = RO = FR

W =
TO

EXAMPLE : Find the velocity of that released at height h

a
rolling object is
from rest a on a

& with the horizontal the radius XMR"

ramp making an
angle object has R mass m and Ic =

, ,

A
M

Energy at A :

Only potential .

h
EA= Emv + IcmW2= migh =

EB
Kinetic
V Ol
B Energy at B :

Only .

Rolling -> WR=v Emv2- Ev ? -

migh

Emv2+ Exmv-mgh
=
v=V

EXAMPLE A :

FORg cyclist is able to

apply a 600N force on the
pedal over one revolution,

find the reached revolution the wheels don't slip

speed after one .

Neglect mass
of the bicycle ,
.

conserved Work done converted into

Energy is . is Kinetic
energy .

& ↳
W =

600 0 16 6 28
·

.
.

.
=
6035427002 =
603 =
>v
=

4 15m/s
.
6 .
-

CONSERVATION OF ANGULAR MOMENTUM .

If
*
there are no torques in a
given direction , for us I direction ,
the
angular momentum in

that direction is
always conserved .

If it =0 -> Le constant

A In collision momentum should also be conserved

a
angular .

Lo =
mve

·
Je If =
Iw+mv'e

because stuck
v we it
got
mre=Iw+mwe= (I mLYw +
= w
=
EXAMPLE A towards
:

bokg child runs at 4mls a circular

plate that is initially spinning . What is

the angular speed when the child the ? Is 12 MR"

is on
plate =

drad/

~an
w Initial Iw-mVR= [160
160kg 4 1-60 4 2= -160kgm2/s
: .
. .

m
= :

Final
fami In'+mv'R V W'R w -0 29 radis
=

: = .

160
=

Iw' +
mRw =

(320 240) w +

PIVOTS ALWAYS EXERT A FORCE .

ROLLING : STATIC FRICTION .

=
V : WR AND a
=

XR

SLIPPING : KINETIC FRICTION .