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CHAPTER-5
 TRANSLATORY MOTION:
 In translatory motion body can move in straight line or curved line but axis of body at any point remain
parallel to axis of observer.
 Each particle covers equal distance or displacement during translatory motion.
 Motion of whole body can be represented by motion of any single particle hence body behaves like
particle and body can be considered as point object.
 Curved motion is always accelerated motion, hence direction of velocity always changes.
 ROTATORY MOTION:
 Each particle moves in circle.
 Axis of rotation is imaginary line which passes through point of rotation about which body rotates which
can pass within rotating body or out of rotating body.
 Axis of rotation is always perpendicular to plane of body.
 In rotatory motion only one particle describes motion of whole body which is called center of mass.
 All particles cover unequal distance and move with different velocities.
 In circular motion angular displacement and angular velocity is same for all particles.
 Spin Motion : Axis of rotation pass through body.
 Orbital motion: Axis of rotation pass out of body.
 TORQUE:
 Turning effect of force.
 Torque is produced due to tangential force.
 Torque plays, same role in angular motion as force plays in linear motion.
 Torque is necessary to change state of body in angular motion.
 After application of torque angular acceleration/deceleration and tangential acceleration/deceleration is
produced.
 Body rotates in non-uniform circular motion after application of torque.
 Angular velocity does not remain constant after application of torque.
 𝐹 = 𝐦𝐚 𝐍𝐞𝐰𝐭𝐨𝐧′ 𝐬 𝐥𝐨𝐰 𝐟𝐨𝐫 translatory motion, 𝜏 = 𝐈𝜶 𝐍𝐞𝐰𝐭𝐨𝐧′ 𝐬 𝐥𝐨𝐰 𝐟𝐨𝐫 𝐀𝐧𝐠𝐮𝐚𝐥𝐫 𝐦𝐨𝐭𝐢𝐨𝐧
 Torque and angular acceleration are always parallel to each other whereas angular velocity and torque
may be parallel or anti-parallel to each other.
 Torque can do work by changing angular velocity changes which results in change of angular KE.
1 1
KE = 𝑚𝑣 = 𝑚𝑟 2 𝜔2 𝜏 = 0, KE = constant, 𝜏 =≠ 0, KE is not constant
2 2

If net torque acting on body is zero, change in KE will be zero and angular acceleration and tangential
acceleration is also zero.
If rate of rotation increases then angular velocity, torque and angular acceleration are parallel to each
other. If rate of rotation is decreasing angular velocity is anti-parallel to angular acceleration and torque.
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 Torque is produced due to vertical component of force, 𝐹𝑠𝑖𝑛𝜃 whereas Fcos𝜃 can pull the body but
cannot rotate it.
 Moment arm is distance between axis of rotation and line of point of application of force.
 Moment of inertia plays same role in angular motion as force plays in linear motion.
 Direction of torque can be determined by using right hand grip rule or screw rule.
 Torque is axial vector and is always directed along (parallel) axis of rotation.
 Magnitude of torque depend upon magnitude of force, length of momentum and angle between 𝐹 and 𝑟.
 Magnitude of torque changes if location of axis changes.
 If 𝐹 and 𝑟 are perpendicular maximum torque is produced.
 If 𝐹 and 𝑟 are parallel, antiparallel or line of action possess through axis of rotation (center of rotation)
then minimum torque is produced (momentum arm is zero)
 If direction of 𝐹 and 𝑟 both changes then direction of torque remain unchanged.
 Torque is always perpendicular to 𝑟 and 𝐹
TORQUE OF COUPLE:
COUPLE: Set of two equal but opposite forces form couple.
 Torque of couple depends upon magnitude of any force and separation between lines of action of
forces. Torque of couple does not change due to change of axis of rotation.
CENTER OF MASS AND CENTER OF GRAVITY:
 Point at which whole mass of body is thought to be concentrated.

 If force acts on center of mass body then body will attain pure translatory motion.

 In rotatory motion, motion of whole body is represented by motion of center of mass.

 Center of mass of regular shaped body lies at geometrical center of body.

 Center of mass may lie at point where intrinsic mass is zero for example at center of ring.

 Center of mass of isolated body lies within body whereas center of mass of system of particles may lie

within or outside of body.

 CENTER OF GRAVITY: Point at which whole gravity is thought to be concentrated is called center of
gravity.
 Center of gravity of extended body coincides with center of mass if body is in uniform gravity but if body

is not in uniform gravity then center of gravity does not coincides with center of mass.

 CONDITION OF EQUILIBRIUM:
 First condition of equilibrium: sum of all forces acting on body is equal to zero.

 2nd condition of equilibrium: sum of all torques acting on body is zero.

 Body will be in complete equilibrium if sum of all forces and torques is equal to zero.
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 LOCATION OF AXIS:
 If a body is in equilibrium at one axis then it must be in equilibrium at any other axis.
 Equilibrium is independent of location of axis.
 Equilibrium can be lost due to change in magnitude of forces.
 One is independent to choose location of axis but location of axis must be chosen at a point where
unknown forces may be inactive.
 ANGULAR MOMENTUM:
 Property of body due to which rotating body requires more torque to produce angular acceleration or
angular deceleration is called angular momentum.
 Property of body due to which rotating body requires less or more torque to change its state is called
angular momentum.
 Angular momentum plays same mole in angular motion as linear momentum plays in linear motion
 Angular momentum depends upon mass, tangential velocity and mass distribution (radius).
 Only rotating body possesses angular momentum.
 𝐿 = 𝑚 𝑟 × 𝑣 Anticlockwise
 𝐿 = 𝑚 𝑣 × 𝑟 clockwise
L = mvrsin𝜃 (magnitude)
As sin𝜃 between r and v is always 900 therefore sin900 = 1 L = mvr
As m𝑣 = 𝑝
𝐿 = 𝑟 × 𝑝 (anticlockwise)
As 𝑟 and 𝑝 are always perpendicular
L = rp
 ANGULAR MOMENTUM IN TERMS OF ANGULAR VELOCITY:
 As L = mvr
L =m (r 𝜔)r L = mr2 𝜔
L = I 𝜔 (mr2 = I)
 We can say that if I constant then 𝐿 ∝ 𝜔
 Angular momentum of body remains constants if "𝜔" remains constant.
 𝜔 is always changed by tangential force or torque therefore without torque angular momentum remains
constant, centripetal force cannot change magnitude of “𝜔” therefore cannot change.
 Angular momentum and angular velocity are always parallel to each other and are parallel to axis of
rotation.
 Angular momentum may be parallel or anti-parallel to angular acceleration. If rate of rotation is

increasing them "𝜔", ∝ and 𝐿 are parallel to each other, if rate of rotation is decreasing then 𝜔 and 𝐿 are

antiparallel to ∝.
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 MOMENT OF INERTIA:
 I = mr2
 Moment of inertia depends upon distribution of mass.
 Body posses moment of inertia in rest as well as in motion. Moment of inertia is also called rotational
inertia and plays same role in angular motion as mass plays in linear motion.
 If angular momentum is constant then:
1
I∝𝜔
1
𝜔∝ 𝐼
 Angular momentum is constant then angular acceleration is zero.

 ROTATIONAL KE:
1 1
KE = 2 𝑚𝑣 2 = 2 𝑚𝑟 2 𝜔2

1
KE =2 𝐼𝜔2

 Rotation between KE and 𝑳:

1
𝐾𝐸 𝐼𝜔 2 𝜔
i) 𝐿
= 2 𝐼𝜔 = 2

𝐾𝐸 𝜔
=
𝐿 2

1
𝐾𝐸 I𝜔 2 𝜔
2
ii) = =
𝐿2 𝐼2 𝜔 2 2I

𝐾𝐸 1
=
𝐿2 2I

 Unit of angular momentum is J.sec

 Dimension of angular moment are ML2T–1
 LAW OF CONSERVATION OF ANGULAR MOMENTUM:
∆𝐿
 Rate of change of angular momentum is equal to torque ∆𝑡
,therefore we can say that angular

momentum can be changed by torque only.

 Angular momentum of an isolated body or system of by does remains constant if net torque acting on
body is zero.
 Internal forces cannot change angular momentum.
 Change in angular momentum is equal to angular impulse. ∆𝑙 = 𝜏𝑡
 Weight cannot change angular momentum if axis of rotation lies at center of gravity.
 In case of figure scatter or acrobat axis of rotation is at center of gravity therefore weight cannot charge
angular momentum..
 In case of figure scatter or acrobat angular momentum remains constant therefore when they out stretch
their body moment of inertia increases and angular velocity decreases when they bring their body close
moment of inertia decreases therefore 𝜔 increases.