1

ROTATIONAL KINEMATICS

A system of particles constitutes a rigid body if the distance between any two
particles remains constant under the action of many forces.

MOTION OF A RIGID BODY

Pure Translation Motion of a Rigid Body
A rigid body is said to undergo translation if it moves such that it always remains
parallel to itself, this means that a line connecting any two particles of the rigid
body always remains parallel to itself throughout its motion. Any two particles
of the rigid body have identical velocities in this case.

Rotational Motion
A rigid body is said to undergo rotation about an axis if there exists a straight
line such that the motion of any particle of the rigid body takes place on an arc
of a circle whose centre lies on this straight line and the planes of all such circles
are perpendicular to this line.
This straight line is known as the axis of rotation. The rigid body undergoes
rotation about this axis.

Plane Motion
The motion of a rigid body is said to be plane motion if the motion of any particle
of the rigid body is confined to a plane with the additional condition that for any
two particles of the rigid body, their planes of motion are either completely
identical or do not intersect at all (i.e. are parallel). During plane motion, the
axis of rotation retains its orientation in space.

Angular Displacement
During rotation, every particle of the rigid body sweeps out an arc of a circle
with its centre on the axis of rotatiom The angles subtended by all these arcs
are equal and is known as the angular displacement.
Average and instantaneous angular velocities are given by
⃗⃗⃗⃗
𝜃2 −𝜃⃗⃗⃗⃗1 ⃗⃗⃗⃗⃗
𝑑𝜃
𝜔𝑎𝑣 =
⃗⃗⃗⃗⃗⃗⃗ ,𝜔
⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑖𝑛𝑠𝑡 =
𝑡2 −𝑡1 𝑑𝑡

Average and instantaneous angular accelerations are given by

⃗⃗⃗⃗⃗2 − ⃗⃗⃗⃗⃗
𝜔 𝜔1 𝑑𝜃
𝛼𝑎𝑣 =
⃗⃗⃗⃗⃗⃗
, ⃗⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝜔𝑖𝑛𝑠𝑡 =
𝑡2 − 𝑡1 𝑑𝑡
In case of constant angular acceleration, the following relations can be used:
𝜔𝑡 = ⃗⃗⃗⃗⃗
⃗⃗⃗⃗ 𝜔0 + 𝛼 𝑡

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1
𝜃⃗⃗⃗𝑡 = ⃗⃗⃗⃗ 𝜔0 𝑡 + 𝛼 𝑡 2
𝜃0 + ⃗⃗⃗⃗⃗
2
2 2
𝜔𝑡 = 𝜔0 + 2𝛼𝜃
Here 𝜔0 = 𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝜔𝑡 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦 𝑎𝑡 𝑡𝑖𝑚𝑒 𝑡
𝜃0 = 𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛, 𝜃𝑡 = 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛 𝑎𝑡 𝑡𝑖𝑚𝑒 𝑡
For variable angular acceleration, we should proceed with differential equation,
𝑑𝜔 𝑑𝜃
= and 𝜔 =
𝑑𝑡 𝑑𝑡

Q) a fan starts rotating with constant angular acceleration of 𝜋𝑟𝑎𝑑𝑠 −2 about a

fixed axis perpendicular to it’s plane and through it’s centre. Find the
a) angular velocity of the fan after 4 secs
b) the angular displacement of the fan after 4s
c)no. of turns accomplished by the fan after 4s

Answer: Here, 𝛼 = 𝜋 𝑟𝑎𝑑𝑠 −2

𝜔0 = 0
𝑡 = 4𝑠
𝜔(4𝑠𝑒𝑐) = 0 + 4𝜋 = 4𝜋 𝑟𝑎𝑑/𝑠𝑒𝑐
1
𝜃(4𝑠𝑒𝑐) = 0 + 𝜋 × 16 = 8𝜋 𝑟𝑎𝑑𝑖𝑎𝑛
2
Let the number of turns be n
Therefore, 2𝜋𝑛 = 8𝜋 ⇒ 𝑛 = 4

Relation Between Linear And Angular Variables

A point in a rotating rigid body, at a perpendicular distance r from the axis of
rotation, moves in a circle with radius r. If the body rotates through an angle 0,
the point moves along an arc whose length S is given by
S = 𝜃r (𝜃 is in radians)
𝑑𝑆 𝑑𝜃
⇒ = 𝑟
𝑑𝑡 𝑑𝑡
The linear velocity v of the point is tangent to the circle & its linear speed v is
given by
𝑑𝜃 𝑑𝑆
𝑣 = 𝜔𝑟 , 𝜔 = ;𝑣 =
𝑑𝑡 𝑑𝑡
In vector form
𝑣=𝜔 ⃗ ×𝑟
𝑑𝑣⃗ ⃗⃗⃗
𝑑𝜔 𝑑𝑟
⇒ 𝑑𝑡 = 𝑑𝑡 × 𝑟 + 𝜔
⃗ × 𝑑𝑡
𝑎 =𝛼×𝑟+𝜔 ⃗ × 𝑣 = ⃗⃗⃗⃗
𝑎𝑇 + ⃗⃗⃗⃗
𝑎𝑅

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The linear acceleration 'a' of the point has both tangential and radial
𝑑2𝜃
components. The tangential component is aT=𝛼𝑟 (𝛼 = )
𝑑𝑟 2
𝑣2
The radial component of a is aR= = 𝜔2 𝑟
𝑟

𝑑𝜔
If 𝜔 is constant, then = 0 ⇒ 𝑎𝑇 = 0 ,
𝑑𝑡

Q) A disc rotates with constant angular acceleration of 2 rad/s2 about a fixed

vertical axis through its centre and perpendicular to its plane. A coin is placed
on it at a distance of 1 m from the axis of rotation. The coin is always at rest
relative to the disc. If at t = 0 the disc was at rest, then find the total acceleration
of the coin after 1 second.
Answer: After 1 second angular velocity of the disc and hence angular velocity
of the coin about the axis of rotation is
𝜔 = 𝑜 + 2 = 2 𝑟𝑎𝑑/𝑠
𝑎 𝑇 = 𝛼𝑟 = 2𝑚/𝑠 2
𝑎𝑅 = 𝜔 2 𝑟 = 4𝑚/𝑠 2
Hence, 𝑎 = √𝑎2𝑇 + 𝑎𝑟2 = 2√5𝑚/𝑠 2

Kinetic Energy Of Rotation And Moment Of Inertia:

When a rigid body describes pure rotational motion all of its constituent
particles move in circular aths with radii 𝑟1 , 𝑟2 , 𝑟3 … … . . 𝑟𝑛 (say) with linear
velocities v1 = 𝜔 r1, v2 = 𝜔𝑟2 , ...vn= 𝜔𝑟𝑛 If m1, ..m2 are the masses of the
corresponding particles then the kinetic energy of the system is given by

1 1 1
K.E.=2 𝑚1 𝑣12 + 2 𝑚2 𝑣22 + ⋯ … . . + 2 𝑚𝑛 𝑣𝑛2
1 1 1
= 𝑚1 𝜔𝑟12 + 𝑚2 𝜔𝑟22 + ⋯ … . . = (𝑚1 𝑟12 + 𝑚2 𝑟22 + ⋯ … . +𝑚𝑛 𝑟𝑛2 )
2 2 2
2
The terms 𝑚1 𝑟1 + 𝑚2 𝑟2 + ⋯ … . +𝑚𝑛 𝑟𝑛2 ) is called rotational inertia or
( 2

moment of inertia of the system of particles or body.

Rotational inertia of a particle of mass 'm' is given by the following expression
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I = mr2 ; where r = perpendicular distance of the particle from the axis of

rotation.
Rotational inertia of a system of particles is given by the expression
I = ∑𝑛𝑖=1 𝑚𝑖 𝑟𝑖2

For a continuous distribution of mass, I = ∫ 𝑟 2 𝑑𝑚, where dm is a small element

of the body at a distance r, from the axis of rotation.
Hence, kinetic energy of a rotation of rigid body is given
1
𝐾. 𝐸. = 𝐼𝜔 2
2

Moment of inertia of a system of particles depends on .

Axis of rotation
Mass of the system
Distribution of mass in the body
Note: About a particular axis of rotation, moment of inertia of a rigid body is
constant.
Moment of inertia plays same role in rotational motion as mass plays in
translational motion. "It is the property of the body by virtue of which body
opposes any change in its state of rotational motion. "

Q) Calculate the moment of inertia of a thin ring of mass 'm' and radius 'R' about
an axis passing through its centre and perpendicular to the plane of the ring.

Answer: Remember that in case of continuous mass distribution, we use the

formula
I = ∫ 𝑟 2 𝑑𝑚 to find out the moment of inertia of the body. AA' is the axis about
which rotation of the ring is being considered.
Mass of the ring = M, circumference of the ring = 2𝜋R
𝑀
Mass per unit length of the ring= 2𝜋𝑅=𝜆 (say)
Consider a small element of the ring at an angle 𝜃 from a
particular reference radius. The element subtends an
angle d𝜃 at the centre.2
Length of the element = Rd𝜃
Mass of the element = (𝜆𝑅 𝑑𝜃)
Moment of inertia of the element = (𝜆𝑅 𝑑𝜃)R2
2𝜋
Moment of inertia of the ring = ∫0 𝜆𝑅 3 𝑑𝜃 = 𝑀𝑅 2

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Q) A uniform rod of mass m & length 𝑙0 is rotating with a constant

angular speed 𝜔 about a vertical axis passing through its point of
suspension. Find the moment of inertia of the rod about the axis of
rotation if it makes an angle to the vertical (axis of rotation).
Answer: Consider an elementary mass dm of the rod
𝑚
dm = 𝑙 𝑑𝑙
0
The moment of inertia of the elementary mass is given as dl = (dm)r2
The moment of inertia of the rod
I = ∫ 𝑟 2 𝑑𝑚
𝑚
Substituting r = 𝑙𝑠𝑖𝑛𝜃 & dm = 𝑙 𝑑𝑙, we obtain,
0
2 2 𝑚
I=∫(𝑙 𝑠𝑖𝑛 𝜃) 𝑙 𝑑𝑙
0
𝑚𝑙02 𝑠𝑖𝑛2 𝜃 𝑙
⇒𝐼= 𝑙0
∫0 0 𝑙2 𝑑𝑙
2
𝑚𝑙0 𝑠𝑖𝑛2 𝜃
⇒𝐼=
3

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Moment of Inertia of some Common Bodies

(a) Ring (b) Disc (c) Cylinder

𝑚𝑅 2 𝑚𝑅 2
I=mR2 I= I=
2 2

THEOREMS ON MOMENT OF INERTIA

If the moment of inertia (l) of a body of mass m about an axis be written in the
form: I = mk2

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Then, the quantity k, so defined, has the dimension of length and is known as
the radius of gyration of the body about the given axis. It represents the radial
distance from the given axis of rotation where the entire mass of the body can
be assumed to be concentrated so that its rotational inertia remains unchanged.

The Parallel - Axis Theorem:

The theorem states that moment of inertia of any distribution of matter
about an arbitrary axis is equal to the moment of inertia of that matter
about an axis passing through its centre of mass and parallel to the
arbitrary axis plus the product of the mass of the matter and square of
the distance between these two axes.
I = lcm + md2, where d is the perpendicular distance between two parallel
axes.

Q) Using the parallel axes theorem, find the M.I. of a sphere of mass
m about an axis
2
that touches it tangentially. Given that 𝐼𝑐𝑚 = 5 𝑚𝑟 2
Answer: Ip = lcm + m (OP)2
2 7
⇒ 𝐼𝑝 = 𝐼0 + 𝑚𝑟 2 = 𝑚𝑟 2 + 𝑚𝑟 2 = 𝑚𝑟 2
5 5

Perpendicular - Axes Theorem:

The sum of moment of inertia of a plane lamina about two mutually
perpendicular axes lying in its plane is equal to its moment of inertia
about an axis perpendicular to the plane of lamina and passing through
the point of intersection of these two axes.
Mathematically, 𝐼𝑧 = 𝐼𝑥 + 𝐼𝑦

NOTE: For proof of these theorems, refer to additional exercises of NCERT

solutions

Q) Using perpendicular axes theorem, find the M.I. of a disc about an axis
passing through its diameter.
Answer : According to perpendicular axis theorem, 𝐼𝑧 = 𝐼𝑥 + 𝐼𝑦
We know that 𝐼𝑥 = 𝐼𝑦 due to the geometrical symmetry of the disc, where Ix
and Iy are

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M.I. of the disc about an axis passing through its diameter.

𝐼
Hence, 𝐼𝑦 = 2𝑧
where, Iz = M.L of the disc about Z-axis passing through its centre perpendicular
to its plane
= mr/2
𝑚𝑟 2
MI about diameter= 𝐼𝑥 = 𝐼𝑦 = 4

Q) A thin wire of length L and uniform linear mass density p is x

bent into a circular loop with centre at O as shown in figure.
Calculate the moment of inertia of the loop about the axis

Answer: we know that moment of inertia of the ring about an axis

passing through it’s centre and in the plane of the ring is given as
𝐿2
𝑀𝑅 2 (𝜌𝐿) (2𝜋 ) 𝜌𝐿3
𝐼𝑥𝑥 = = = 2
2 2 8𝜋
𝜌𝐿3
So by parallel axes theorem, 𝐼𝑥𝑥 ′ = 𝐼𝑥𝑥 + 𝑀𝑑 2 = 8𝜋2 + 𝜌𝐿 × 𝑅 2 =
𝜌𝐿3 𝜌𝐿3 3𝜌𝐿3
+ 4𝜋2 =
8𝜋2 8𝜋2

Q) A disc is rotating about vertical axis OA, which is tangent to the circumference
and perpendicular to the plane of disc. Its rotational energy is given as E. Find
the time period of rotation.

Answer: Moment of inertia of rim= MR2= 1 × (0.3)2 = 0.09𝑘𝑔 − 𝑚2

50×0.01×(0.3)2
Moment of inertia of spokes = = 0.015𝑘𝑔𝑚2
3
Total moment of inertia = (0.09+0.015)kgm2 =0.105kgm2

Q) A disc is rotating about vertical axis OA which is tangent to the

circumference and perpendicular to the plane of the disc. It’s
rotational energy is given as E. Find the time period of it’s
rotation.
1 3
Answer: moment of inertia about OA= 𝑚𝑅 2 + 𝑚𝑅 2 = 𝑚𝑅 2
2 2
1
𝐸 = 𝐼𝑂𝐴 𝜔 2
2
4𝐸
⇒ 𝜔2 =
3𝑚𝑅 2

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4𝐸
⇒𝜔=√
3𝑚𝑅 2
2𝜋 3𝑚𝑅 2
Time period, T= = 𝜋√
𝜔 𝐸

TORQUE (Moment of a force)

Torque or moment of force is the turning
action of the force about a given point.
The torque vector 𝜏 of a force 𝐹 about
the given point O is defined as the vector
product
𝜏 = 𝑟×𝐹
⇒ 𝜏 = 𝑟𝐹𝑠𝑖𝑛𝜃𝑛̂
Where 𝑛̂ is the unit vector obtained by the vector product rule.

Torque About An Axis

Let 'O' be any point on the axis AA'. The
torque of the force 𝐹 about the axis
AA' is defined as
𝜏𝐴𝐴′ = (𝑟 × 𝐹 ). 𝑢̂
⃗⃗⃗⃗⃗⃗⃗
Where 𝑢̂ is the unit vector along the axis.

The Torque Equation

If the net torque acting on a body about any inertial axis is 𝜏 and the moment of
inertia about that axis is I then the angular acceleration & of the body is given by
the relation: 𝜏 = 𝐼𝛼
Q) a force F=(2𝑖̂ + 3𝑗̂ + 4𝑘̂ ) is applied to a point having position vector 𝑟 =
(3𝑖̂ + 2𝑗̂ + 𝑘̂ )m. Find
The torque about axis passing through the origin.

Answer: 𝜏 = 𝑟 × 𝐹 =

⇒ 𝜏 = (5𝑖̂ − 10𝑗̂ + 5𝑘̂ )

⇒ 𝜏 = √52 + 102 + 52 = 5√6 𝑁 − 𝑚

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Work Done by a Torque

Work done by torque 𝜏, W = 𝜏. 𝜃 where , 𝜃= angular displacement
For variable torque, dW= 𝜏. 𝑑𝜃

Q) A tangential force of F = 1.5 N acts on a particle of mass m = 2 kg revolving in

a circular path of radius r = 3 m. What is the work done by the torque for a
complete revolution of the particle?
Answer: work done by the torque, 𝜏is given by
𝑊 = ∫ 𝜏𝑑 𝜃 where 𝜏 = 𝑟𝐹
𝜃
= 𝑟𝐹 ∫0 𝑑𝜃
Putting 𝜃 = 2 𝜋 for a complete revolution we obtain
𝑊 = 2𝜋r𝐹
⇒ 𝑊 = 9𝜋𝐽
PSEUDO TORQUE
If motion of the body is observed from a non-inertial frame of reference having
an acceleration a in a fixed direction with respect to an inertial frame, one has
to apply a pseudo force (-ma) to each particle. These pseudo forces produce a
pseudo torque about the axis. In such a case 𝜏𝑒𝑥𝑡 = 𝐼𝛼 does not hold.
But there exists a very special and very useful case where, 𝜏𝑒𝑥𝑡 = 𝐼𝛼 = does hold
even if the angular acceleration a is measured from a non-inertial frame A. That
special case occurs when the axis of rotation passes through the centre of mass.
Take the origin at the centre of mass. The total torque of the pseudo forces is,
∑{𝑟⃗𝑖 × (−𝑚𝑖 𝑎) = (∑ 𝑚𝑖 ⃗𝑟𝑖 ) × 𝑎
Where ⃗𝑟𝑖 is the position vector of the ith particle as measured from the centre of
mass.
But, ∑ 𝑚𝑖 ⃗𝑟𝑖 = 0 ⇒ 𝑝𝑠𝑒𝑢𝑑𝑜 𝑡𝑜𝑟𝑞𝑢𝑒 𝑖𝑠 𝑧𝑒𝑟𝑜 𝑎𝑛𝑑 𝑤𝑒 𝑔𝑒𝑡,
𝜏𝑒𝑥𝑡 = 𝐼𝑐𝑚 𝛼
⃗⃗⃗⃗⃗⃗⃗

Angular Momentum of a Particle:

Angular momentum of a particle about a given point is defined as
L=𝑟 × 𝑝
Here 𝑟 = position vector of the particle with respect to the
given point.
𝑝= linear momentum of the particle.
Direction of L can be determined by using the rule for vector product.
The magnitude of the angular momentum of a particle about a fixed point is
equal to the product of its linear momentum and the length of the perpendicular
to the linear momentum from the fixed point O.

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Q) Find the angular momentum of a particle of mass m describing a circle of

radius r with angular speed 𝜔

Answer: 𝐿⃗ = 𝑟 × 𝑝
As linear momentum (𝑝) is along the tangent, hence 𝑟 × 𝑝 = 𝑟𝑝𝑛̂
where, 𝑛̂ is the unit vector perpendicular to the plane of the
circle.
|𝐿⃗| = 𝑚𝑣𝑟 = 𝑚𝜔 2 𝑟

Q) A particle of mass m is projected with a velocity v at an angle 0 with the

horizontal. Find its angular momentum about the point of projection when it is
at the highest point of its trajectory.
Answer : At the highest point it has only horizontal
velocity
𝑣𝑥 = 𝑣𝑐𝑜𝑠𝜃
Length of the perpendicular to the horizontal velocity
from 'O' is the maximum height, where
𝑣 2 𝑠𝑖𝑛2 𝜃
𝐻𝑚𝑎𝑥 =
2𝑔
The required angular momentum,
𝑚𝑣 3 𝑠𝑖𝑛2 𝜃𝑐𝑜𝑠𝜃
𝐿= 2𝑔
, which is directed along negative z-
axis.

Angular Momentum of a Rigid Body

When a rigid body describes pure rotational motion all its
constituent particles describe circular motion.
Hence angular momentum of the particles about corresponding
centres are
𝐿1 = 𝑚1 𝜔𝑟12 , 𝐿2 = 𝑚2 𝜔𝑟22

and similarly 𝐿𝑛 = 𝑚𝑛 𝜔𝑟𝑛2 where 𝜔 is the angular speed of the

body.
Since angular momentum of all the particles have same direction
therefore angular momentum of the whole body is given by
𝐿 = 𝐿1 + 𝐿2 + 𝐿3 + ⋯ … … . +𝐿𝑛
= (𝑚1 𝑟12 + 𝑚2 𝑟22 + ⋯ … . +𝑚𝑛 𝑟𝑛2 )
⇒ 𝐿 = 𝐼𝜔

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Angular Momentum of a Body Describing General Plane Motion

The angular momentum of a body about a point 'O' in the laboratory
frame XOY is given by
⃗⃗⃗⃗
𝐿𝑜 = 𝐼𝑐𝑚 𝜔 + 𝑟 × 𝑚𝑣𝑐𝑚
The angular momentum of the body about a point P on the body is
given as 𝐿⃗ = 𝐼𝑝 ω
⃗⃗

Physical meaning of angular momentum

consider a particle rotating about origin in the x-y plane. Its
position vector in time t is 𝑟 . At time 𝑡 + Δ𝑡, position vector
is (𝑟 + Δ𝑟). If 𝑣 is velocity at time t,
𝑣Δ𝑡 = 𝑟 + Δ𝑟 − 𝑟 = Δ𝑟
Draw ⃗⃗⃗⃗⃗
𝑂𝑅 parallel to ⃗⃗⃗⃗⃗
𝑃𝑄 and complete the parallelogram.
Then , area of parallelogram,
Δ𝐴 = 𝑟 × Δ𝑟
1 1
Area of the triangle OPQ, , 𝐴 = (𝑟 × Δ𝑟) = (𝑟 × 𝑣Δ𝑡 )
2 2
Δ𝐴 1 1 𝑝 1
= 𝑟×𝑣 = 𝑟× = 𝑟×𝑝
Δ𝑡 2 2 2𝑚 2𝑚
Δ𝐴 1
Therefore, Δ𝑡 = 2𝑚 𝐿⃗, where 𝐿⃗ is the angular momentum
Hence, angular momentum = 2 × 𝑚𝑎𝑠𝑠 × 𝑎𝑟𝑒𝑎𝑙 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦
Here areal velocity is the area swept per unit time
If during motion, angular momentum remains constant, areal velocity remains
constant. (This may also be treated as a proof of Kepler’s second law)

Relation between torque and angular momentum

We know that,
𝐿⃗ = 𝑟 × 𝑃⃗
𝑑𝐿⃗ 𝑑𝑟 𝑑𝑝
⇒ = ×𝑝 +𝑟×
𝑑𝑡 𝑑𝑡 𝑑𝑡
= 0 + 𝑟 × ⃗⃗⃗⃗⃗⃗⃗
𝐹𝑒𝑥𝑡
𝑑𝐿⃗
⇒ = ⃗⃗⃗⃗⃗⃗⃗
𝜏𝑒𝑥𝑡
𝑑𝑡
This equation is analogous to 𝐹 = 𝑚𝑎 as applied to linear motion
Conservation of Angular Momentum
When there is not external torque acting on a particle , then we can put
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⃗
𝑑𝐿
= 0 ⇒ 𝐿⃗ = 𝑐𝑜𝑛𝑠𝑡𝑎𝑛𝑡
𝑑𝑡
Therefore, the angular momentum remains unchanged in the absence of an
external torque.

Q) A uniform rod AB is free to swing in the vertical plane about

a horizontal axis through A, is hanging freely. A particle of equal
mass strikes the rod with a velocity 𝑣0 and gets stuck to it. Find
the angular velocity of the combination immediately after
collision.

Answer: As the net torque of the system of the rod and the
particle about A during collision is zero, the angular momentum
of the system about A is conserved.
𝐿 𝐿2 𝑚𝐿2
Therefore, 𝑚𝑣0 = [𝑚 + ]𝜔
2 4 3
6𝑣0
𝜔= (anticlockwise)
7

Q) In the figure shown two particle m and M are interconnected

by an inextensible and light string. M is in equilibrium due to
revolution of particle m in horizontal plane as shown in the
𝑙
figure. Now M is pulled down slowly through a distance 2 . Find
the change in angular speed of the particle.

Answer: For the equilibrium of M, T-Mg=0 , where T is the tension in the string.
⇒ 𝑇 = 𝑚𝑔
Since, the tension T causes the circular motion,
⇒ 𝑇 = 𝑚𝑙ω2 Equating both the equations we get,
𝑀𝑔
𝜔=√
𝑚𝑙
Since the tension T passes through O , it’s torque about O is zero.
Therefore the angular of the system (m+M) about O remains
constant. Conservation of angular momentum yields 𝐼𝑜 𝜔 = 𝐼ω′ ; I0
and I are the initial and final moment of inertia of m and ω′ = final
angular speed.

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𝑙 2 𝑚𝑙 2
𝐼0 = 𝑚𝑙2 and 𝐼 = 𝑚 (2) = 4
𝐼0
⇒ ω′ = 𝜔 = 4𝜔
𝐼
𝑀𝑔
Therefore, the change in angular speed Δ𝜔 = ω′ − 𝜔 = 3𝜔=3√ 𝑚𝑙

Condition for Zero Torque

𝜏= rFsin𝜃
𝜏= 0, when r = 0, that means that the force passes through the axis of rotation.
𝜏= 0, when F = 0 (or negligibly small) that means no external force acts on the
particle.
𝜏= 0, when 𝜃 = 00 or 1800 the force is parallel to the radius vector. (Radial forces
cannot impart any torque on the particle, i.e. centripetal force causes no
torque). When the above conditions are satisfied, 𝜏 = 0, and so the angular
momentum of the particle is conserved. That means the particle will keep on
rotating with uniform or constant angular velocity.
Since angular momentum of all the particles have same direction therefore
angular momentum of the
whole body is given by
𝐿⃗ = ⃗⃗⃗⃗
𝐿1 + ⃗⃗⃗⃗
𝐿2 + ⋯ … . . +𝐿⃗⃗⃗⃗𝑛

Relation between Torque and Angular acceleration

The angular speed of a body is changed from 𝜔to (ω + Δω)in
very small interval Δ𝑡 . If angular displacement of the body
during this time interval is 𝜃 = 𝜔Δ𝑡 , then change in kinetic
energy
1
Δ(𝐾. 𝐸. ) = [(ω + Δω)2 − ω2 ]
2
⇒ Δ(𝐾. 𝐸. ) = 𝐼𝜔(Δω ) [(Δω)2 is neglected.
From work energy theorem,
𝜏𝜃 = Δ𝐾. 𝐸.
⇒ 𝜏𝜔Δ𝑡 = 𝐼𝜔(Δω)
Δω
⇒𝜏=𝐼
Δ𝑡
⇒ 𝜏 = 𝐼𝛼

Q) A disc of mass m, radius r wrapped over by a light and inextensible string is

pulled by force F at the free end of the string. If it moves on a smooth horizontal
surface, find linear and angular acceleration of the disc.

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Answer: The force translates the C.M. of

the disc with an acceleration 'a' given as
𝐹
F = ma 𝑎=𝑚
The force F develops a torque t about O;
consequently, the disc rotates with an angular acceleration 𝛼 about an axis
passing through O given as 𝜏 = 𝐼0
1
Since, 𝜏 = 𝐹𝑅 and 𝐼0 = 2 𝑚𝑅 2
τ 2𝐹
⇒ 𝛼 = 𝐼 = 𝑚𝑅
0

Q) A uniform disc of radius R and mass M is free to rotate about a fixed horizontal
axis perpendicular to its plane and passing through its centre. A string is wrapped
over its rim and a block of mass m is attached to the free end of the string. The
block is released from rest. If string does not slip on the rim then find the
acceleration of the block. Neglect the mass of the string.

Answer: Since string does not slip on the disc hence tangential acceleration of
the point on the rim which is in contact with the string is equal to the
acceleration of the block. Let angular acceleration of the disc about the axis be
u, hence acceleration of the block,
F.B.D. of the block F.B.D. of the disc torque on the
disc is
𝑚𝑔 − 𝑇 = 𝑚𝛼𝑅
(𝑠𝑖𝑛𝑐𝑒 𝑎 = αR)

𝜏 = τtension + τmg
⇒ 𝐼𝛼 = 𝑇𝑅 as τ𝑚𝑔 = 0
𝐼α
⇒𝑇=
𝑅

Eliminating T from both the equations we get,

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𝑚𝑔
𝛼=
𝐼
𝑚𝑅 + 𝑅
2𝑚𝑔 𝑀𝑅 2
⇒ 𝛼 = (2𝑚+𝑀)𝑅 as 𝐼 = 2
2𝑚𝑔𝑅
Hence, 𝑎 = (2𝑚+𝑀)𝑅

Angular Impulse
Angular impulse of a torque in a given time is equal to the change in angular
momentum. If angular momentum of a body is changed by a torque ⃗τ in time dt
is
𝑡
𝐽 = ∫𝑡 2 ⃗τ 𝑑𝑡 where 𝐽 is angular impulse
1
𝑡 𝑑𝐿 𝐿
𝐽 = ∫𝑡 2 𝑑𝑡 𝑑𝑡 ⇒ 𝐽 = ∫𝐿 2 d𝐿⃗
1 1

⇒𝐽=𝐿 ⃗⃗⃗⃗2 − ⃗⃗⃗⃗

𝐿1

Combined Rotational and Translational Motion

In this type of motion, the axis of rotation is not stationary. If a body rotates
about an axis with angular frequency o, then with respect to the axis of rotation,
linear velocity of any particle in the body at a distance r from the axis of rotation
equals
𝑣=ω ⃗⃗ × 𝑟

If the axis of rotation also moves with velocity \𝑣0 then net velocity of the
particle relative to stationary frame will be
𝑣=ω⃗⃗ × 𝑟 + ⃗⃗⃗⃗
𝑣0

Q) A disc of mass m is rolling on a rough surface. The velocity of the

centre of mass of disc is 10m/s. Find the velocity of point A which
makes an angle of 30∘ from horizontal anticlockwise as shown in
the figure. There is no slipping at point of contact.

Answer: As disc is in pure rolling state

𝑣𝑐𝑚 = 𝑟𝜔 = 10𝑚\𝑠
𝑣𝐴 = 10𝑖̂ + 10𝑐𝑜𝑠60𝑖̂ − 10𝑠𝑖𝑛60𝑗̂
⃗⃗⃗⃗
𝑣𝐴 = 15𝑖̂ − 5√3𝑗̂
⃗⃗⃗⃗

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Rolling Motion
If the velocity of the surface on which a body is rolling ⃗⃗⃗
𝑣𝑠 and R is the radius of
the body then,
⃗ × 𝑅⃗ + ⃗⃗⃗⃗
𝜔 𝑣0 = ⃗⃗⃗
𝑣𝑠
If ⃗⃗⃗
𝑣𝑠 = 0 then for pure rolling 𝑣0 = 𝑟𝜔

Q) a disc of radius R is rolling on a horizontal surface. If the

acceleration of centre of mass of the disc is a and velocity is v,
find the acceleration of point P at the instant represented in
the figure.

3𝑎 𝑣 2√3 𝑎 √3 𝑣2
𝑎𝑝 = ( 2 −
Answer: ⃗⃗⃗⃗ ) 𝑖̂ − ( + 2𝑅 ) 𝑗̂
2𝑅 2

Q) a cylindrical drum, pushed along by a board rolls

forward on the ground. There is no slipping at any
contact. Find the distance moved by the man who is
pushing the board, when axis of the cylinder covers a
distance L.

Answer: let 𝑣0 be the linear speed of the axis of the cylinder and 𝜔 be it’s angular
speed about the axis. As it does not slip on the ground
𝑣
hence 𝜔 = 𝑅0 where R is the radius of the cylinder.

Speed of the topmost point is 𝑣 = 𝑣0 + 𝜔𝑅 = 2𝑣0

Time taken by the axis to move a distance L is equal to 𝑡 =
𝐿
.
𝑣0
In the same interval of time distance moved by the topmost point is
𝐿
𝑆 = 2𝑣0 × = 2𝐿
𝑣0
As there is no slipping between any point of contact hence, distance moved by
the man is 2L.

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Energy of a Rolling Body

The translational K.E. of a rolling body
1
𝐾. 𝐸.𝑡 = 2 𝑚𝑣 2
The rotational K.E. of a rolling body
1
K. E.𝑟 = 2 I0 ω2
𝑣
Since we know that 𝐼0 = 𝑚𝑘 2 and for pure rolling 𝑣 = 𝑟
1 𝑣2 𝑘2
⇒ 𝐾. 𝐸.𝑟 = 2 𝑚𝑘 2 (𝑟 2 ) = 𝑟 2 𝑚𝑣 2
Hence, total K.E. of the rolling body , K.E.=K.E.t +K.E.r
Putting 𝑣 = 𝑟ωfor pure rolling we obtain K.E. in terms of ωas
1 2
𝑘2
𝐾. 𝐸. = 𝑚(𝑟𝜔 ) (1 + 2 )
2 𝑟
1
⇒ 𝐾. 𝐸. = (𝑚𝑟 2 + 𝑚𝑘 2 )𝜔 2
2
Since 𝑚𝑘 2 + 𝑚𝑟 2 = 𝐼0 + 𝑚𝑟 2 = 𝐼𝑝 , where 𝐼𝑝 = M.I. of of the body about P.
Therefore, we conclude that, the combined effects of translation of centre of
mass of a body and its rotation about an axis passing through the c.m. are
equivalent to it’s pure rotation about an axis passing through the point of
contact P, of the rolling body.
𝐾.𝐸𝑡 1/2𝑚𝑣 2
Percentage of energy of translation = × 100 = 𝑘2
× 100 =
𝐾.𝐸 1/2𝑚𝑣 2 (1+ )
𝑟2
𝑟2
𝑟 2 +𝑘 2
× 100
𝑘2
Similarly percentage of of energy of rotation = 𝑘2 +𝑟 2 × 100

Q) A thin hollow sphere of mass m = 2 kg, radius = (1/2) m is sliding on a

horizontal surface with constant frequency n = 60 rpm. Find the total mechanical
energy of the hollow sphere.
1
Answer: Translational kinetic energy, K.Et =2 𝑚𝑣 2

1
Rotational kinetic energy, K.Er =2 𝐼𝜔 2
1 1
Total energy, E = KEt+KEr= 2 𝑚𝑣 2 + 2 𝐼𝜔 2
2
For rolling v=rω & 𝐼 = 3 𝑚𝑟 2 we obtain,

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5 5
E=6 𝑚𝑟 2 𝜔2 = 6 𝑟 2 (2𝜋𝑛)2 = 16.45𝐽

Role of Friction in Rolling Motion

If a body rolls without slipping such that velocity of it’s centre of mass does not
change then no frictional force acts on the body.
However, if a force acts on the body which changes the velocity of it’s centre of
mass or it’s angular velocity about the centre then there is a tendency of the
body to slide at the point of contact and hence frictional force acts on the body
to oppose this tendency

Rolling On The Inclined Plane

Velocity : When a rigid body of mass M rolls on an inclined plane without
slipping, the friction force f is static, and no work is done by the friction force.
Hence from the conservation of energy,
1 2 1 1 1
𝑀𝑔ℎ = 𝑀𝑣𝑐𝑚 + 𝐼𝑐 𝑚𝜔 2 = 𝑀𝑣𝑐𝑚 2
+ 𝑀𝑘 2 𝜔 2
2 2 2 2
1 𝑘2
2
= 2 𝑀 (1 + 𝑅 2 ) 𝑣𝑐𝑚

2𝑔ℎ
⇒ 𝑣𝑐𝑚 = √ 𝑘2
1+
𝑅2

It is important to note that the velocity of a rolling body is independent of its

𝑘2
mass (M) and radius (R). Smaller the value 𝑅 2 faster the body is moving
Acceleration: Let the linear acceleration of the rolling body be a . Then for the
linear motion, the net force
𝑀𝑎𝑐𝑚 = 𝑀𝑔𝑠𝑖𝑛𝜃 − 𝑓
For the rotational motion, the net torque
𝑎𝑐𝑚
𝑓𝑅 = 𝐼𝑐 𝛼 = 𝑀𝐾 2
𝑅
𝑀𝐾 2
⇒ 𝑓 = 2 𝑎𝑐𝑚
𝑅
Substituting the value of f in the first equation we get,
𝑔𝑠𝑖𝑛𝜃
𝑎𝑐𝑚 =
𝑘2
1+ 2
𝑅

1 ℎ
Time of descent: 2 𝑎𝑐𝑚 𝑡 2 = 𝑠𝑖𝑛𝜃

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2ℎ
⇒ 𝑡 = √𝑎
𝑐𝑚 𝑠𝑖𝑛𝜃

𝑘2
1 √ 2ℎ (1 + )
𝑅2
𝑡=
𝑠𝑖𝑛𝜃 𝑔

Pure Rolling on a Horizontal Plane

Figure shows a horizontal force F acting at a height h from the centre of mass C.
we have assumed the friction force on the body in the forward direction.
For translational motion,
𝐹 + 𝑓 = 𝑚𝑎𝑐𝑚
For rotational motion, the torque about C,
𝑎𝑐𝑚 𝑎𝑐𝑚
𝐹ℎ − 𝑓𝑅 = 𝐼𝑐𝑚 = 𝑚𝑘 2
𝑅 𝑅
ℎ 𝑘2
⇒ 𝐹 − 𝑓 = 2 𝑀𝑎𝑐𝑚
𝑅 𝑅
Adding the equations of translational and rotational motion,
ℎ 𝑘2
𝐹 (1 + ) = (1 + 2 ) 𝑚𝑎𝑐𝑚
𝑅 𝑅
ℎ
(1 + 𝑅 ) 𝐹
⇒ 𝑎𝑐𝑚 =
𝑘2
1+ 2
𝑅
2𝐹
a) If h =R, 𝑎𝑐𝑚 = 𝑘2
, when F acts on top
(1+ )𝑚
𝑅2
𝐹
b) If h=0, 𝑎𝑐𝑚 = 𝑘2
, when F acts on centre of mass
(1+ )𝑚
𝑅2

Also using the equations of translational and rotational motion we get,

ℎ 𝑘2
𝐹 (𝑅 − 2 )
𝑅
𝑓=
𝑘2
1+ 2
2
𝑅
𝑘
𝐹(1− )
𝑅2
c) If h=R, 𝑓 = 𝐾2
≤ μ𝑚𝑔.
1+ 2
𝑅
𝑘2
For a ring 𝑅 2 = 1, 𝑠𝑜 𝑓 = 0

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𝑘2
− 𝐹 𝐹
𝑅2
d) If h=0, f = 𝑘2
=− 𝑅2
1+ 2 1+
𝑅 𝑘2

Negative sign indicates that the friction will act in the direction opposite of
𝐹
F. So the backward friction 𝑓 = 𝑅2
≤ μ𝑚𝑔
1+
𝑘2

𝑘2 ℎ
e) If 𝑅 2 = 𝑅 , f=0
𝑘2 ℎ
f) If < , 𝑓 > 0, 𝑖. 𝑒. , 𝑡ℎ𝑒 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛 𝑎𝑐𝑡𝑠 𝑓𝑜𝑟𝑤𝑎𝑟𝑑
𝑅2 𝑅
𝑘2 ℎ
g) If 𝑅 2 > 𝑅 , 𝑓 < 0, 𝑡ℎ𝑒𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛 𝑎𝑐𝑡𝑠 𝑏𝑎𝑐𝑘𝑤𝑎𝑟𝑑

Angular Momentum of a Body In Combined Translational And Rotational Motion

Suppose a body is rotating about an axis passing through it’s centre of mass with
an angular velocity ω𝑐𝑚 and moving translationally with linear velocity v. then
the angular momentum of the body about a point P outside the body in lab
frame is given by,
⃗⃗⃗⃗
𝐿𝑝 = ⃗⃗⃗⃗⃗⃗⃗
𝐿𝑐𝑚 + 𝑟 × 𝑚𝑣 ⃗⃗⃗⃗⃗⃗⃗
𝑐𝑚

Q) A sphere of mass Mand radius r shown in figure slips on a rough horizontal

plane. At some instant it has translational velocity 𝑣0 and rotational velocity
𝑣
about the centre 2𝑟0 . Find the translational velocity after the sphere starts pure
rolling.

Answer: velocity of the centre=𝑣0 and the angular velocity about the centre is
𝑣0
2𝑟
. Thus, 𝑣0 > ω0 𝑟 . The sphere slips forward and the friction by the plane on
the sphere will act backward.
Let us consider the torque about the initial pint of contact A . The force of friction
passes through this point and hence it’s torque is zero. The normal force and
weight balance each other. The net torque about A is zero. Hence angular
momentum about A is conserved.

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Initial angular momentum is

𝑣0
L = 𝐿𝑐𝑚 + Mr𝑣0 = 𝐼𝑐𝑚 + Mr𝑣0
2𝑅
2 𝑣0 6
= 𝑀𝑟 2 ( ) + 𝑀𝑟𝑣0 = 𝑀𝑟𝑣0
5 2𝑟 5
Suppose, translational velocity of the sphere after it starts rolling, is 𝑣 . The
𝑣
angular velocity is 𝑟 . The angular momentum about A is
𝐿 = 𝐿𝑐𝑚 + 𝑀𝑟𝑣
2 𝑣 7
= 5 𝑀𝑟 2 (𝑟 ) + 𝑀𝑟𝑣 = 5 𝑀𝑟𝑣

6 7
Thus, 𝑀𝑟𝑣0 = 5 𝑀𝑟𝑣
5
6
⇒ 𝑣 = 7 𝑣0

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