PH YSI( S-.\I ROI'.,\1'IO\.

-tI- -\l Ol I()\

CHAPTER

Io
ROTATIONAL MOTION
RIGIDBODY Now suppose the angular psition of the body at
A body can be delined as a rigid body, if the any time t is e. Durirg a time At, It fi.fiher rotates
distance berween any two points remains tkough 40, so that its angular position becomes 0
unchanged irrespective of the rnagnitude of force + A0. The average angular velocity during the
act on the
2. MOTION OF A RIGID BODY
time interval At is = 49
-ar
"rr.on.
(a) Translational motion: A rigid body is said to z-axis
mdergo pure trafflatioo if it moves such that all
its particles moves along the parallel paths. ln this
motion allparticles have same distance,
displacement, velocity and acceleration. If these o \ iI\IS
parallel paths are straight lines, the motion is said
to be a rectilinear translation; if the paths are
curved lines, the motion is a curvilinear
translatior. The insta aneous angular velocity at time t is
d0_
ur = : . (i = cofi ( n is unit vector along axis of

rotation. Given by right hand thumb rule).Angular

acceleratiou : The average angular acceleration is

defined bv -.. _6(tr)-(n(t,) where 6

s1 t. -t,
Rectili near transl ati on (t) represents the instantaneous aDgular velocity at
time t.
The inslanlaneou angular acceleration is defined
using calculus; by the expression:
.. Atrt &o,c=_.
lun_=_ dri
,o At dt
(' .1r dt
All the quantities relbrred to above are defined
s\7 with respect to an axis llred in dircction.
Curvili near transl ation
COMPARISON.BETWEEN
O) Rotational lootion: A rigid body is said to AND ROTATIONAT KINEMATICS
uadergo pure rolation if it moves such lhat its
The kinernatic equations in case of linear and
conslituent padicles move along circular arcs, the
rotational motion are conpared in the following
centres of which lie a
on straight line table: Linear motion ofparticle Rotational Motion
perpendicular to the plane of the arcs. This (fixed axis)
straight line is known as the axis of rotatiorq and
the rigid body is said to undergo pure rotation - di
v=- _ de^
o=-n
about this axis. ln this case all the particles have dr dr
:
the same a:rgular displacement, angular velocity Motion under uniform acceleration (a constant,
and angular acceleradoa c, = constant)

v:utat. x=ut+lat', r': =ur+2as

Rotationnl Kinematics of Rigid Body : 2
Consider a rigid body rotating about a given fixed l,
o=o^ + cta , 0= ro.t + lcrl: . 6-= 6f +2o0.
Iine. Take this Une as z-axis. The angular position '2
of the body at any time t is said to be 0. The dv dcr
rotation of the rigrd body is measured by the
ds d0
rotation of the line OP from i1s initial positior.

I
It(]t"\T Io \,\I- -\l o1'l o \ PIIYSI('S-\I
(b) Th ratlo oftk tim€s ttlcn to compleae tb 1r rnd
Sterting from rest, a fatr takes ten seconds to the 2d revohdon is ! =l . fina Oe vatrr oft.
attain the maximum speed of 600 rpm (revolutions tr2
per minute). Assuming constant acceleration, find Solution:
the time tnken by the fan in attaining half the (a) Angularacceleratiotr
mtrximum speed- Given : 600 revolution/60 sec.: d<o dor d0 &,:
ct=-=--=(i)-.
10 revolution/sec, dr de dt d0
Solution: dc,l
Let the angular acceleration be q.. According to the '. to or, i-
drrr
= -bdo
* = -bot-
.

equation (o = oo + cl
Integrating, [h o]:" = -[b0]:
600rev/min=0+cr10. ... (r)
Let t be the time taken in attaining the speed of .. ln9=-b0
300 rev/min which is half the maximum. (oo

Then. 300 rev/min:0 + ... crt. (i, (qe

Dividing (i) by (ii), we get,
.'. (o= ... (i)
For one rotation 0 : 2r, hence ftom equatior (i)
2=lo or. t=5s-
(o)*,, =qe-'d.
t
{ffi;pl"-orl (b) From equation (D,
A body rotntes $ith en rngular acceleration which f;=r,.-*
is linearly plopoltional to its angular displacement
...at= do, =!"*do
the proportionalih (e):a=).O const.nt I being 0o€ 0o
positive. Find the angular velocity of the body as a
function of angular displacement ntrd the atrgular .'. r, = -1- [eo4g = -l1s'* -g
oo i boo
displacement as a function of time. It is given thtt
ro : t& antl 0 : 0o at t : 0; where ,o - J-),00. and t, = -l Ie*do = :-l-1eo,o - e,*;
oo i. b(oo
Solution:
: 7,0
It is given that: o - t! et* -1 I
-

-, do do d0 tr l) et*
e"o(e'* -
Now. c= _=--=(])-.
dr,r
dt d0 dr de -t. I ll
Rut --.L=- (srven) _'_-=-
dro r. 2 "
de
rrrl e:
or. .']' = 2 2nb = ln2 or. t = auz .

I 2r
Intesalins- ue set-
"22 =tr: +C,.
Relationship between Ilnear and angular
Fort:0. variables:
Srypose that particle P of a ri$d body undergoing
22 16*c
9o=
i
pure rotatim about an axis , moves from its location
P at tirE t to P at the tirE t + d. The distaDce rmved
Using the given conditioo, Cl: 0
:
by P in tinr d is,arcPP : AP{I) where, AI is
ds
.'. rot = ),0t -, , =.,,[e .
the distance ofP frorn tbe axis ofrotatioat the cenrre
To lind O : O(t)- we write ro: !9 ofthe circle ofroetion ofP being A.
dt ds d0
(ls=rpd0 vr=dt=rrA=rro.
d0 r-
dt Ifthe origin of coordinates be chosen at some

* j$=njat o,,h*=Jrt or, o=ooeri'

point O on the axis of rotation" then ve can be
written after using the expression. AP = OP sin 0

so, r=Jf oo"fi vp : OP sin p.o)

i, is directed into the plale and while ro is along
ple the axis, so we can write,
A body is rotating Eith an angular retardation Vp = (OX fp
proportional to the squarc of its nngular speed:
where -5 is the position vector ofP relative to the
<r--bco:,b>0.
origin O, on the axis. This expression gives the
(a) Find its angular speed when lt bas turned
velocity ofP with respect to the axis ofrotation.
through one complete reyolution.

)
TIIYSt ( s-Xt R()1 ,\',II () \.\ l. \I()1tO\
vr = OP sin 9.o But ! rq r] is the moment of inertia I of the body
If the direction of the axis of rotation is fxed, we atrout tbe given axis ofrotation.
can differenliale with respect to time t, to get the I
linear acceleration of P, Routional K.E. of the body, Iq = 1 1 6:
- (a,,rrJ
ar= - ) * /- ai,'\ Thus the rotational K.E ofa bodyis equal to half

l* [r" *.,J the product of the moment of inertia of the body

and the square ofthe angular velocity ofthe body
= F"n) + (o:,"-) about the given axis of rotation" Note that once
again we could have guessed its general form. In
utrere d represents tbe angular acceleration ip
analogl to It-m vi. we see tbat v is replaced by or
and has been defined in the two previous sections.
The relations v = r<o and a = ro. are very usefirl and mby I.
and their meanings should be clearly understmd. For continuous mass distribution, the moment of
Different particles of
the rigid body, have inertia, I, is given by
diflerent radii for their ctcles of rotatio& but the I= I rtdm
samo values for o & c. Thus, the tangeatial speed
W}ere r is the distance of the mass-elernent dm
and the tangential acceleration of difleretrt from the axis of rotatioa The integration is carried
particles are different. For r:0 i.e., for the oll1 ov€r the entire rmss distribution.Moment of
particles on the axis, v : r<rr : 0 and a = ro = 0, inertia ofa system ofparticles depands on
since the particles on the axis do not move at all a. Axis ofrotation
relative to the axis itselll b. Mass of the system
c.Distribution ofmass in the body
IAt DYNAMICS Moment of inertia plays same role in rotational
motion as mass plays in translational motion. It is
Kinetic Energr rnd moment of Inertifl: the property of the body by u,hich body opposes
When a rigid body rolates about an axis. it any change in its stale ofrotational molion.
possesses kinetic energy. All the kinetic energy of Radius of Gyration:
a rotaling body is rotational kinetic eaergy (K,). The radius of glration of a body about a certain
[-et us now find the kinetic energy of a rotating axis is given by k, which is related to the momenl
body. The particle of nuss m1 follows a circular of inertia I about the same axis by the relalion,
path of radius rl. The magnitude of the linear or I=mt'.
tangential velocity ofthe particle or this circle is Parallel axis Theorem :
The moment of inertia of a rigid body about any
Rotational kinetic energy ofthe particle givea axis equals the mome of inenia about a
[ : I .: I : rtr: prallel axis passing tbrough its centre of mass
2*,u,: ra, ,rro)=-mrrr plus the moment of inertia of a particle of equal
ntass about the given axis :
Similarly, the rotational kinetic energy of
I*o = Lo, + Md'
particl€s of nnsses m:, m3...... ur" ]rnr r].', ] ,-," -,
2- 2 /
m, r]r,r2 . - respectively. The rotational ./ & /
kinetic energy K of the body s equal to the sum
of the rotatiooal kinetic energies of all the Here, M is the rnass of the body and is the d
particles. distance between the two axes.
Rotational K.E. ofthe body, Peq)endicu.lar trxes Theorem:
K-l*,.;rt, * f .rr;r'*.......... Tbe momena of inertia of a plane lamina about an
' 2 '' 2 -'
],ns,rt 2 axis perpendicular to the plane of the lamina is
:l 2
,111
(1111 I1 +II!12 +mlIr + )r'
equal to the sum of its moments of inertia about
two mutually perpendicular concurrent axes
passi[g though the plaoe of Oe hutne :
I
2
G ,rr ri) r' I,=1,+1,.

!r2

3
R01.\ I IOI.j\l- -110 1 lO} PHYSI('S-\I
Note :Remember that thE perpendicular axis theorem only to two dimensional objects or, lamina.
does not apply to three dimensional objects but
. Tflble of moments ofinertia:
Expression for moment of inertia ofbodies ofregular shapes about particular axis ofrotation :
Shape o! bodv Axis of Rolation passing ,htough Expression fot Mornent of
Inertia
l. Circular ring of mass (i) centre, perpendicular to plane ofring N,IR',
M and radius R
(ii) any diameter (t/2) MRI
(iii) any tangent ia the plane ofring (3/2) MR'
(lv) any tangent perpendicular to plane 2MR-
of ring
2 Circular disc ofmass (i) centre, perpendicular to plane ofdisc (l/2) MR'
M and radius R
(ii) any diameter (r/4) MRr
(iii) tangent in the plane of the disc (5/4)MRr
E 3 Sphere ofmass
(iv) tangEflt perpendicular to plane ofdisc
(i) any diameter
(3.',2)N,rx:
(2is) MRr
M and radius R
( ii) anv tangent plane (7/5) MRr
I Cylinder of nrass (i) oun axis (1/2)MR-
M, radius R and length
L
(ii) Centre perp€ndicular to length
*[
I
-i)
L,)

(iii) end faces and I to length r_, )

+
"( 4 3)
5 One dimensional rod of (i) cenhe ofrod and 1 to length ML,I2
mass M and lenglh L
(ii) one end and J- to length ML./3
6. Rectangular lamina (i) length of lamina and in its plane M8,13
of mass M, length L
and breadth B
(ii) brcadth of lamina and in its plane ML i3
(iii) centre of lamina and parallel to MBl ML'
length or breadth in is plane
t2 ].2
(iv) centre of lamina and -L to its plane
,IrI l?e') +
I

,( r +-B,)
(v) cente of length and -L to its plane
|

t2 3)
(vi) centre ofbreadth and -L to its plane
Mrq*
(3 1 2
Rectangular block of (i) centre ofblock and parallel to one
mass M and dimensions edge (length ofbreadth or height) ,[g'+]r'l
12I , ,(
I \ t2
H: +L3
as follows:
Length L, breadth B
and height H -"(+)
(ii) end face and parallei to length or B
breadth or height ofthe block + . I2
"( l2)* "(f
OI M
B r)
.o)
3

4
PHYSt( S-XI ROl;11'I0r...{I- tl O'l'l () fi
Erample-04 Solution:
trind the radius of g,ration ofa uniform rod of bngth We take a small element ol the arc between the
angular positions { and $ + dg, having a mass
/ ad th centre dm = ),R dg, where ). : mass per udt leogth. Theq
mnss m about nn axis passing through
of rnass of tfu rod and mnHng an angle e $itt the rod the moment ofinertia,
Solutiotr: 99
:,
The moment of inertia of the rod about the given axis
can be easily found by integraion : I: J tnsin o)'am
= 2l(R'sin'O)iRdS
lo
- I
(xsine)' = *
/sinO
=lF
7

':i(+.-)
i sin! 0 do :.21.R3 x l4
l2mr-sm-u=mK-
= 2],R 0 SIN e)

lE-"..t..ffi.)
The moment ofinertia ofa udform circular disc of Since, ^m I= 1mR' , sin 0
RO 2 0
mass l\I nnd radius R about its axls is 1MR'. Note: The moment of
inertia attout an axis
2
What is the moment of inertia of the disc about perpendicular to this axis, lyiag in the plane
(i) I diameter (ii) rn ads tfltrgential to its of the ring, is
I
circumference and perpendicular to the plane? I' lmR: (,-#) we obtain this using
=
Solution : 2
Th€ moment of inertia of the disc about its axis is the perpendicular axis theorem.
I
- MR' . Let us consider ta o perpendicular diameters.

Jne along the x-a,xis and the other along the y-axis- Moment of a force (or torque) is a physical
Then I" = I, , quantity which tries to rotate or rotate a body
about a given point or a given axis of rotation. Or
(i) According to the theorem of perpendicular axes,
0re moment of inertia of the disc about an axis
the nrrning effect of a force acting on a body
passing tkough its cenlre and nomnl to its plane
about an axis is called the moment of force or
torqu€.
is given by
1 MR'? = 2I, Lireo{ adionol
I.=I.+1, OI
2 forcs

o, I-4=l[.rR'. 0

(ii) Since the disc is uniforq its centre of mass

F
coincides with its c€nhe. Therefore, the moment tuitld ionof
of inertia of the disc abou ao axis tangential to its
force
ciroumference is
( =I* +ldd' Factors afrecting the turning of a body:
(i) The magrxtude ofthe force applied and
=!", +MRr =!trR' *MR' =i".' (ii) The distance of line of actioa of the
fiom the axis ofrotation-
force

Delinition of moment of a force (or torque):

(E-".pt"-o6l The moment ofa force (or torque) is equal to th€
Find the moment of inertia of an arc of a ring of product of the magnitude of the force and the
radius R, given thst the src sulrtends an angle 0 at perpendicular disiance of the line ol action ofthe
the center of the ring and the mass of the src is m force from the axis ofrotatio!.
nnd the sxis is nlong the line joining center of the Moment of force can b€ cahdrted by ttro
ring and the midpoint ofthe arc methods:
B

F
o Fiine
C

(i) By raking components of force F

[r =Tau]

5
ROt .,\1 t()N.,\t_ ]rol toN P}IYSI('S.\I
r:rx(Fsino) Anguhr momentum :
I=IFSiNO Angular momentum of a rigid body undergoing
pure rotation about a fixed axis is given by
(ii) By t,king corryonents of vectot i @
t: (r sinO) F [.=r@
where I is the moment of inenia ofthe body about
t:Frsin0
the axis of rolation and o, its angular velocity. It
is related to torque much like linear momenrum is
related to force:
srn O

e=€:
dt
t=!L.
dt
Angular momentum is a vector quantity and it is
. Zero Illoment : direcied along, provided I can be treated as a
o Ifthe line of action ofa force passes through the scalar ( i.e. the rotation is along one ofthe axes of
axis of rotation, then perpendicular distance from symmetry).
the axis will be zero. Therefore its moment about Angular momentum is corserved ifthe net torque
tiat axis is also zero. acting on a body about lhe given axis is zero. The
. If the force vanishes then the moment about a law of conservatioD of angular momentum is
given axis also vanishes. frequently used, for example in analyzing motion
o Posltlve aad negative moments: under a central force, collisions between extended
bodies, etc.
If the moment of a force produces anticlockwise
rotation then lhe moment oi the force taken to be Example-07
positive. A symmetrical body is rotating about its axis of
If the moment of a tbrce produces clockwise slmmetry, its moment of inertia about the axis of
rotation then the moment of the force taken to be rotntion being 1 kg-m2 and its rate of rotation 2
negative. rev./sec. What is its lngular mometrtum ?
Solution:
As the body is rotating about its axis of symmetry, the
angular momentum vector coincides with the axis of
rotation.
.. Angular momentum =1. Z (n!
,Anti clockwise Cloclovise :I 2 3.14 .2= l2.57kg- m- /s
Counter clocku,ise frample-08
A uniform llat disc of mass l\{ snd radius R rotetes
Principle of moments:
about a horizontal axis throwh its centre with
When a number of coplanar forces act upol a
angular speed (&, (a) What is its kinetic energy
tody and they tend to rotate it about an axis, then
and angular momentum? (b) A chip of mass m
the resultant moment of all the forces is obtained
breaks ofr the edge of the disc at an instant such
by the algebraic sum of moments of all the forces thst the chip rises verticnlly ebout the point at
with proper sign convention. Ifthe net moment of which it broke off. How high nbove the point does
anybody is zero, the body is in rotational it rise before starting to fall? (c) Whrt ls the final
equilibrium. This is called the principle of angular momentum and ene rg)' ofthe disc.
moments
Equilibrium:
q 1

Forces which have zero linear resultant and zero

tuming effect will not cause any change in the
motion of the object to which they are applied.
Such forces (and ,he object) are said to be in Solution:
equilibrium. (a) The kinetic energy ofrotation Ta is given by
Condition for coplanar forces in equilibrium: T-,2=1Ir'.
l\rhen an object is in equilibrium under the action
ofa set oftwo or more coplanar forces, the object f
has
Here. I = N,[R' and o: oh
2
(i) No linear movement along any two mufually
T- = -lMn'.]
perpendicular directions. ^4 -

E F*:0 and Fr:0 ! The algular momenhurl

(ii) There is no roution about any axis.
Ir -' *i' : 0
L= Io or 1 = ]i,{R,oro .
2

6
P}IYSI(:S-XI RoI'iI'IO\A I, \IO1 ION
(b) We know that v = r.o Example-09
Here, v=R<oo. A circular disc of mass m and radius R is set into
If&e panicle rises to a height b" then motion on a horizontal floor with a linenr speed v
v' R't'li in the forward direction and an angular speed in
t' =2ch or 6=
-2929 - . clockwise direction and as shown h ffgure. Flnd
(c) lf the angular nromentum of remainder be La, the magnitude of the total r, = f angutar
then applying the law of comervation of angular R-
momenfum we bave momentum of the disc about bottommost point O
l ofthe disc.
L*+mR'roo=zW'r" 0)

- L- = IMR'.- -.R'.-
o
L !u-*
2
R (rl
Solntion:i = i.". + i, i .(,
Similady, ap,plying the law of conservation of
r.. = I._. = lrrn, , Jl = lurvR (perpendicular lo
etrergy, we get 2 R2
(rl)+;mR'o,; =lul'.i paper inwards)
And ; i
, = mRv (perpendicular to paper inwards)
*q =|r,an',; -j*''; Since the both the terms of right hand side of eq. (i)
are in the same directiorr

6. A lmvR + mvR = L f ,nr,R

A'IGULAR MOMENTUM OF PARTICLT lil = 2
=
2
DESCRIB]NG CIRCUI.AR MOTION lEt-"pt..-1d)
A projectile ofmass m is projected at time t = 0
from s point P with a speed u Et an anglc of45o to
the horlzontal. Find the magnitude and the
t L
v
direction of the nngular momentum of the
u
particle about the point P at time ' -
'-.Ec'
A simple and important case to consider is a
Solution:Al r=*,
psrticle traveling in a circle of radius r as shown
in figrne. We coosider the motion of the panicle panicle is at the higlest point oftrajectory L = i xP
u-sin'450
about th€ center O of the circle so thal its position
vectm is i.
Since in circular motion, (and i
L=H mu, .' 29 'mucos45o
L=I!
4'lze
hence p ) is perpendicular to i at each point of perpendicular to the plane of motion , going into the
the patll 0 :
90o at each point. Therefore, for plane of motion
motion of a particle in a circle about the centre of
the circle, we bave,
v= u,
Angular momentum about O, L: r P sin 90" = r p
L=rp-rmv u
i=ixF
Angular momentum of a rigid body about lxed
axis of rotation
i = t6, where I is the moment of inertia about 7, III.ATK)I{ TO*CIUC ANO
the axis of rotation and o is the angular velocity .ANGt'tAi MENfiNTT'M'
'€TYYEEN
of rigid body about the axis ofrotatron- Wc know thal torquc drE to a ftrce F rotating the
Angular morrentum of a rigid body in rolling panicle in xy-plane is given by :
motion t=xF--vF. (i)
i=i""-*i*i According to NeMon's second law of motion,
11P1= d,--,
i* represens the angular mornentum of the F=
dr' dr'
body as seen &om the centre of mass frame.
where F is the linear momentum of the particle.
L* =I-,0) In component form, we have,

7
R0 I -,\ 1'Io N AL }IOTIOI PHYSI('S.\I
F*
d
(A)
d '
(mvJ=m dv-
- --r
The sum of the torques due to intsmal forces is
zero. Therefore, we bave to consider the torques
a a d
on the system of particles due to extemal forces
d d dv
F) (py) (m vJ'dt= m-2 only. Thus referring to figure, particle I has rnass
a a m1 aod velocity ?, and lhe resultant force oo it is
Here p : m vx : x-compon€nt of the linear
momentum of the particle. i. The angular mom€ntum of particle I w.r.t.
Py :
m vy : y-component ofthe linear momentum
origin O is L, =i,.n1i. Similarly for panicles
of the particle.
Putting the values of F* and F, in eq. (i), we have 2, 3 and so on. We have the same origin for all
position vectors, anguld mmenta and torques.
Therefore, for each particle in the system, we
t:xm.-_vm-
dY. dv.
have,
&-d
du, d", ,'' =d'.- ,'' =E "'
n1 x-- v (i, dr dt
dt dt Adding all these equations yields

No* ur ir +t. +i3+t1.....iN

v v,)
${x _ dlr,dL., dL,
dr, ,fl*
x ,*]-[,*.".*] dr dt dt dt
t dt

x-+
dv.
v
I f au I ^r; -aq.q.aI.-
drdtdt"'dt
.ai;
I dt '".]-L';i*"" 1
or t.-.,
A.
+L. +L, +......+Ln) ...(i)
or d '""'=:(L.
dt' '
(x v\. - y vr) Eq. (i) is the fimdamental reiation betq,een
dt
dv. _ dv angular momentum and torque. It says that the
=x v____a (lrr) vector sum ofexternal torques is equal to the time
& 'd
-r_
rate of change of the system's total vector angular
From eqs. (ii) and (iii), we have,
momentum.
dd (xmvv ymvJ
r.m-(xvr yvx)=
-
d
orr=;(xB-ypJ ...(iv) kr N-particles system, the particles can change
their positions relative to one another. However,
Thus the fine rate of change of angular in a rigid body, the particles remain at their
momentum of the particle is
equal to the net respective positiors. Note that "a system of
torque applied to the particle. Eq. (iv) gives the particles" includes a rigid body as a special case.
relation between torque and angular momentum. Therefore, the above keatmen! is also applicable
You nray recall that a similar relation exists
betu,een force and linear momentum viz. F : to a rigid body. For a rigid body. i,*,,,= 9L
dp/dt. Thus the net torque causes change in dt
angular momentum just as net force causes
cbange in linear momentum
MOMENTUM
TORQUE AIIDIANGUTAR MOMENTUM lf net torque on a system is zero about an axis,
rOB A SYSTEMOF PARTICTES then cbange in its angular momenturn with time is
vl also zero about the same axis i.e.,
-+
rl ml ;1 1=4L=o then ai=o
o r,z 4 At
or L : Constant vector
r3 vl This is known as &e law of conservation of
mt E
d angular monrentum and rnay be stated as under:
the nel torque on a system is zero about a certain
If
4
Consider a system of N particles of rDSS€s ln1,
axis. then the total aogular momentum of the
system about the same axis rernains constant,
mt. m3 ... rnr having respective position vectors It applies to a particle or system of particles or a
!.ii.,....( Suppose external forces E EE I, rigid body. Ifno net torque acts on a system ofN
particles, then
act on the respective particles in addition to the
intemal forces. l=t +L, +t, +.....+l = Constant vector

8
IltI\ st( s-"\I R() t \'t t{)\ \ I \t(}1 I()\
6;.t 1"-1i forrollingv=r<o
A uniform rod of l{
and length a lies on a
mnss mr: v -i
L.- =__+mw=_mw
smooth horizontal plane. A particle of
mass m 21 2
moving &t a speed v perpendiculnr to the l€ngth of
the rod strikes it at a distance a/4 from the centre
End stops rfter the collision Flnd
(a) the velocit, ofthe centre ofthe rod and
(b) the angular velocit! of the rod about its c€ntre
just after the collision-
Solution :

!)
L4 P
o
m FTomCOAM
Conision -After Co irion
)
Beforc
L,=L.a'Y=3Yo
(a) Conserving linear momenturn,
(b) Putting the value ofv in equalion (i)
mv: lv[Vcm
-_ mv we get to = fL
- JFg

(b) Conserving angular rnomentum of rod A (c) Work done by the frictional force is equal to
change in K.E.
about cente of rnass,
a - Ma: o:--lmV
mV-=1o)=-(o
412Ma =
w. =fm(v-
-
. ,t g-)l,?u4l'
-us..-lf -1.,:
-\ -1 /t[ r , 2 "
(3. -. u"Pctj'\
= ml;u-e-t' -
A uniform disc of mass m and radius r is projected
horizontfllly with velocitl ve on a rough horlzontal for t<to
floor so that it saarts off nith t purely sliding (d) For tirne t > b, work done by the friction is zero.
motionatt=0. for longer time toial work done is same as that in
At t : t{ seconds it acquircs r purely roUing motion. part (c)

*=-l;u,r,(tur)'-"**] =-*u;6
{E--rpt"-tr]
In the shonl figure a mrss m slides dowa the
(a) Calculate the velocity of the centre of mass of frictionless surface from height h and collides with
the disc et t = to.
the uniform vertical rod of length L and mass l{.
(b) Assuming coefficient offriction F, calculate tj. After collision the mass m sticks to the rod. Tbe
(c) The work done by the fiictional force as a t'od is free to rotate in a vertical plane nbout fixed
function of tlme axis through O. Find the maximum angular
(d) Total work done by the friction over n time t deflection ofthe rod from its initial position.
much longer thnn to. o
Solution :
(a) m(v-v
-r--------!-.
)
... ( i) m
-Frng =
t
Since frictional force passes though the point of
conlact, bence about this point no external torque
is acting.
Therefore angular r:xmentum of the disc about Solution :
point of cootact does not change, Just before collision velocity of the rsss m is along
Initial angular rnomenfum about p is given by the horizontal and is equal to vo- In lhe process of
L, = 0+ mvor (using in = i... + i x p". ) collision only angular momentum of the sysrem will
be conserved about the point O.
When it starts pue rolling its angular momentum If Lr and L: are the angular momentum ofthe s),stem
about P is given by L" = I" <,1 + mrr just before andjust after the collision then
-

9
R0 I.{I'lO\:\L \I()I IO\ l, I SI ('S-XI
Solution :
o Using the conservation of angular momentum about
the poiat of contact with the inclined plane.
I l'.1'.1'.'J'(L/:)( t -coeo)
m
'11.t'.--
1i
L(l-ccao) I 5(t0

Lr : mvoL ?mR'r^ + *u-Rcos6oo

= 1mR'r,r
))
MT
and L. =ko= mf or From COAM 2.*', * mooR'
3
5"25 =Znp'.,
-+
l,,R,r^ =1.R,.
10 ' 5
9
..(D=-(l)-
Let the rod deflects lbrcugh an angle e t4"
Initial enerry ofrod and mass system o Angular Impulse:
IIr'=*h"." r=(Mt *-r') The torque due to an irnpulsive force when
2 integrated over the time of action of the force
[3 ) gives a quantity known as angular impulse.
Gain in potential energy ofthe system
Ma&ematically, it is useful in the solution of
- mgl- [ {os 0] * Mg l[t - cose] problems involving impulsive forces acting on
extended bodies, tending to cause rotation and

=(**Ulnro-"o.et given as iu=Jtat.

| )1" '
From conservation of energy

Irr'=l-*{)rl(l-cose)
, l l-'
Trvo udform thin rods A and B of length 0.6 m
each and of masses 0.01 kg and 0.02 kg
lf MIj .)lx m'vl, respectively are rigidly jointe4 end to end. Tbe
_l
2\
-+
3 mL-
/ [u*_)'r combination is piyoted at the lighter end P as
shox[ itr the figure such that it can freely rotrte
\3 ) about the point P in n Yertical plane. A small
(,,, * 4)nrrt' - particle of mass 0.05 kg, moYing horizontally
= ( ? ,- "o.et' strikes the lo$'er end of the combination and sticks
to it. What should be the velocity of the particle so
that the system just ris€s to a horizontnl position?
i#-=[,,.]Jer-rr-"o,er
Lr*'l
m' vj
cosg=l-1
2
[Y.,][Y.,"]*
xample- 6-,
A uniform solid sphere of radius R, rolling without Solution :
sliding on a horlzontnl surface with an angulnr The situation is shown in figure. Let I be th€ length of
velocity roq, meets a rough inclined plane of each rod and ma and mB their respectiv€ masses.
inclinf,tion e = 600. The sphere starts pure rolling p
up the plane rvith an angular velocit-v 0:. Find the
value of o. .4

0=80" o.+
10
l,tIYsl(.rs-_\l RO'I':\1'I () \ -{1. 1I()'I I0\
The torque aboul piyot is zero. Therefore angular In case of pure rotatior, it is coDvedent to take
momentum ofthe systan is comerved i.e., the net torque about the axis of actual rotation
nv(zr) =ru ... (D instead of the centre of rnass.
(iv) Solve all the equadons in steps (ii) and (iii) for
where I
is the mment of in€rtia of the sysrem about
point P and is the angular velocity of oombiration jun the unknown quantities, taking care to perform
after the collision Now we shall calculate the va.lue of I. appropriate checls.
Moment of inertia ofrod A about P i.e., Ia is given by (v) Use kineretics, if velocities and displacenrnts are
required to be found in the poblem
l, =1rn^ {: =1x0.01v(0.6)'=l.2xt0' kg-mr.
.,J
'The moment of inertia ofrod B about P is Exam l6
I" = lmrlt * -" ( 3l A uniform cy-linder of radius R and mass M can
2 rotflte freely about a statiomry horizontal axis 0
(by the theorem ofparallel axes) (see flgure). A thin cord of length I and mass m is
: 1ln"t. =?!,0.02,(0.6)' =r.68x10-i kg-mr. rround on the cylinder in a single layer. Find the
12" t2
fltrgular sccelerstion of the cylinder as a function
The moment ofinertia ofpffticle sbout P is
ofthe length x ofthe hangiug prrt ofthe cord. The
\ =n(t+ !)' : 4mt'z :4 x g.[J x (0.6):
rround part of tbe cord may be supposed to have
.. Mornent ofinertia I ofthe system about P is given by its c€ntre of gmyit)'on the c!-linder-exis.
I:lA+IB+Ic=9' 10-2 kg- m'?... (ii)
Substituting the value ofl in equatioo (i) we get
o.o5vx (2 x 0.6)= (ex lo-')o
0.6)v 2
0.05 x (2 /
91 1,.y = =:v
------l-.-,--1x ... (iiD
(9"10") 3
T
When the rod moves, the rotational kinetic enerry x
of the syslem is cooverted into gravitational
potential energy i.e.,
l_
-lqr' = (m^ +m" +m)Byc'r ... (iv) Solutiotr :Let m be the mass of hanging part of the
t
cord.
where is the distance of the centre of mass of system
from P. Y,., is given by m.m
=-x- t
.., _m^Yr+mBy,+myl Let the cord be descending $"ith ar acceleration a.
""- 1-^*-"*-) m nl
(i)
or Y.v =
0.01x 0.-l + 0.02 x 0.9 + 0.05 x 1.2 8l
Then
-xg -T= I I a

0.01+ 0.02 + 0.05 IJO

z=TR=Icr
Substituting the values in equation (iv), \\'e get

j'.1r,'".)(]") ' _ (o.ol + o.o2 +80o.o5) x 9.8x81 lhere I=f*ftr-.)R'ana .,=ft

Solving this equation for v, we get, TR= f
t*'**rr-r',*,"l"
v : 6.3 m/s. L 2 /' ', lR
Problem solving techniques : M
The general approach to solving complex problems oI- T +
l1'I
\ a (iD
2
involving rigid body motion is summarized below.
From equation (i) and (ii) we get
(i) Draw a Free Body Diagram @BD).
(ii) Select coordfulat€s for describing the motion of each
body, and identify tk
constraints if a:ry. krclude
(+*)- [T.],, -.)]" =(?r"
pseMoforces in fu diagrara ifrEquired
(iii) Apply Newton's 2nd Law of molion to each * (T)=[?,,.].;r,-,.r]"
body:
For rotation, take the net torque due to all the mxg
Solving we gel, a =
forces, about an axis passing through the centre-
,o*1M
of-rnass and apply r* , = Icr. 2

11
R0 1 _.LI', tO X..rt- \t o1'IO ;\.' PII Y SI ('S.XI
Example-17 Solution :

A cylinder of mass m is suspended through two Let a. be lhe acceleration of the cylindff relative to
strings wrepped around it rs shown in figure. Find truck The different forces acting on the cylinder are
(a) the tension T in the string and O) the sp€€d ofth€ shown in fig. Here,
cylinder as it falls through r distance h-
+4.
t' 'r III4
( DI I

n'lg
Solution :
ma-f=ma. (D
The portioD of the slrings between the ceiling and the
cylinder is at rest. Hence the points of the cylinder -1= mr-(r
lJ (iD
- 2
where the strings leave it are at rest. The cylin&r is
thus rolling rvithout slipping on the strings. Suppose a,=Io (iii)
ttre cente of the cylinder falls with an acceleration a. From equation (i),
The angular acceleration of the cylinder about its axis a 2a
or, a- a I ,3
c = 1, as lhe cylindq does nol slip over the
2
i,
r I
strings.
Now o=1 (?)" = ( '.'s=ut+-at'
2 2
The equation of motion for the centre of mass of the where t is the time required to cover the distance d.
cylinder is mg - 2T = ma (l) /i 3d)
and for tbe motion about the centre of Imss. it is
'=r/l;J
L l-* l*
:r, = [1nr,'r]=
l, or, 2r = .'t
(ir) The distance traveled by the truck relative to g:ou[d
before the paper rolls off is given by
I
s=-al-=-al
I /3d)
3d
From (i) and (ii), 2 2\a)
-l=-- 2
2 anct.-I
a=-s ms
= ----e
3-6 @xa;pt.-it
As the centre of lhe cylinder starts moving from rest, A uniform sphere of mass m and radius R starts
the velocity after it has fa[cn thfough a distance h is rolling without slipping dorm an inclined plane.
grven by Find the time dependence of the angular
mom€ntum of the sphere relativ€ to the initial
,'=z[3")n
\3-,
or. ,= tl@
r
point of contact. How rrill the result be afrected in
the cEs€ of a perfectty smooth inclined plane?
Exnmple-18 Herc, 0 : angle ofinclination of the plane.
Solution :
.A, truck, initially at rest rrith a solid cylindrical I'J
paper roll, moves forward }lith a constant o
acceleration a. The c),lind€r roll is lying pnrallel to
the forward edge of the truck st a distrnce d from
the rear edge of the truck. Find the distarce s
@
which the truck travels before the paper roll moves lmg cos
off the edge oi its horizontal sulface. Friction is uc
sufficient to pr€vent slipping betrveen the pflper Let O be the initial point ofoontact Ftr linear motion,
and the truck- we write,
nrgsin 0 - fu = ma-.

d For rfirtio4 t-frR-Ic,mrert c=$

R
.- Ia.
.. mgsmu--=maq
I \av
or. mgsin 0 = m*-I ln*- tq,
R' R' )a,

t2
Pll\ Sl( S--\ I RO I.\'l lO\-{1" }t()t to\
ms sin 0t IZ,ROLUNG MOTTOT{
I When a rigid body moves on a swface.
m+
- (i) Its motion is said to be pure rolling ifthere is no
Using tbe expression for angular momentum s[pping bet\ een the points of contact oftwo
(l-* = r* + r."- ) (ii)
surfaces.
Its motion is said to be rolling with slipping. If
Lo = L- + a1y*( = Irrr+ mv-R = Il=*.u*p there is slipping between the points ofcontact of
tu,o surl'aces.
I _ mg sin 0r D I
L- =v R m+-
R' - t^' m+-
Consider a uniform sphere u,hich is rolling oa a
rough plank as shown and let P and P' be tbe
m+.-
R' points of contact of sphere and plank,
=(rlgsine)tu respectively. Now. for pure rolling.
Ifthe plane is perfectly smooth, there is no rotation.
. . Lo = mv_ft = (mgsin0)Rt . [_ x
11. ROTATION AND TRANSTATION Yq

Any general motion ofa rigid body involves both ?q

tsanslation and rotation. We will not consider all

t)?es of general motion ofrigid bodies, only pure
rolJ ing.
rnd a ii
A body rolls on a surface - tbr example, a ball
rolls on the groun4 a car type rolls on the road in" +i. =io and
etc, - in all these cases
(a) The body undergoes rotation. a- cR = ao roRi-i; + vi = voi
(b) The point ofcontact of the bodyhas zero v-toR=vo
velocity with respect to the surface on which
Ifsurface is stationary, ve : 0 and ae : 0
it is undergoing pwe rolling.
v=roR and a=ctR

IIow to llnd the velocity and rcceleration of If v" > vr', then motion is said to be rollitrg with
any point P of a rigid body in plane motion. forward slipping.
Motion ofany panicle ofa rigrd body relative to If v. < v. ', then motion is said to be rolling with
its C.M. will be circular, therelbre velocity of
backward slipping.
point P relative to ground is grven by
If v and a are the velocity and acceleration of
Vp = Vpr * Vc : orRsin0i + toRcos0(-j) + \,t C.M. of a rolling body relative to the surface, then
: (v + orR sin 0)i + coR cos 0(-j) v=<oR and a=oRare applicable for pure
Also, acceleration ofpoint P relative to ground is rolling motion even when the surface is moving.
grven by
g(-) Eram 20
= oRsin 0i + oR cos + or'n.i, e(-)
A disc of rldius R is rolling on a straight surface S
-<o'R cos 0i + ai rithout slipping (velocit) ol the point of contact P
: (a+cRsin0-ofRcos0)i relative to S:0). The instantaneous angular
velorit)' o &nd flngul:r' acceleration o are as shown
+1oncos0+or'1nsael-j1 in the ligur€. Find: the veloci(v and rccelerttion of
poiDt O, A and P on the disc relative to tbe surface
S. the velocitl and accelerarion of point A relative
to point B.

B
o

l3
ROl -{1'lO\.\1. ll()1 lO\ PHY SI('S-\ I

Solution: where k :the ladius of gyration and is it

Geometric centre O. The point moves in a straight line assumed thal the c€ntre of mass coincides with
parallel to the surface S the geometrical centre ofthe body.
(OP : R at any time)
i* io, +Vr" = Vo, +0=io,
=
o Rolling on an inclined plnne:
: (OP) r,l: R <rr directed as shown. It is clear aom the above discussion that the
d'= xo direction and n]agnitude of Aiction are
Acceleration ofo. 5^. = !n" = a determined by forces and torques acting on lhe
dt dt body, other than coDtact forces.
Point A:
If th€ body rolls on an inclined plane of
Exam ple-21 inclination 0,, then one can write :

A force F acts tangentifllly Et the highest polnt of a F+mssincr-F- m!l-1

=
sphere of mass m kept ol a rough horizontal plane. dr
If the sphere rolls without slipping, lind the
acceleration ofthe centre of the sphere. r.u + = r99 = rr*. !9
tr'dtdr
Solution :
The situation is shoun in figure. As the force F rotates
the sphere, the poinl of contact has a tetrdency to slip
OI r!.F,
r =S[ &,r
r'\ -r
dr
towards left so the static Aicdon or the sphere will act Using the constraint, % = arr, we get
towards fight.
Let r be the radius of the sphere and a be the linear F
k'b
acceleration of the centre of the sphere. The angular

acceleration about the centre of the sphere is o. =1

r
.
F,
rr
r*{ ' --;
ar-
IIl$ Sll O

,*4
I I
as there is no slipping. For the linear molion of the
centre
,l' If F=O.E =l . mgsina, acting backnard.
r*{.
r'
Note:
That this expression does not depend on whether
F+f = nra ... (D
the body rolls up or down the inclined plaae. On
and for the rotational motion about the centre
the olher hand if
it is not clear in a certain
Fr-fr=ra=l,1,n,')l,r) -, .. (iD situation as to $'hether it is the case of pure
\5 )\t ) rolling or not, it is usually advisable to assume
(ii).
7 10F tbat pure rolling occurs. One should apply the
From 1i,1 and 2F = -ma
)
or '-7,'.' rolling constraint and calculate the force of
o Rolling on a Ilorizontal Surface: friction, and the aormal reaction as well. The
If a body is un&rgoing pr.ne rolling on a flat magnitude of the force of static friction always
horizontal surface, and no additional forces (or satishes:
lorques) are acting on it exc€pl contact forces and F, = p,N, where F. is the coefficient of static
gravrty (weighQ, no frictional. force acts upon the
body.
friction between the two swfaces.
v" = r(l)= constant
13. TRICTION ANDROLLING
Fr =0 (no ftiction)
(a) Pure rolling and static &iction go hand-in-hand. If
On the other hand, if
a forcs F acts on the body pure rolling occurs, there is no relative velocity
the conditions to be satisfied are
between the surfaces at the point of contact and
(i) For Linear Motion
therefore, only static friction may act between the
dv
F-F,=-;r bodies. It does not necessarily reach its limiting
value. The correct expression is:
(ii) For Rolation F.b+F.r=l!9 lf"l<p,N... (i) where F6 represents the force of
'dr
static friotion, N, the normal reactiorg and p, , the
k'dr,'r
-b -tr = m-;--r
Or. l-+ coefficient of static frictiou between the surfaces.
r r_ dt
and tbe equation of the constraint v. = ro. If it is knoun thst prre rolling occus, Fu and N
/./r-kt/r') should be teated as unknown quantities u'hich must
After solvinp we pet F- = -l " r be calculated from Newton's laws. Equation (i)
( l+k'/r' ./ then provides a consistenry check for the poblem

t4
PII\'SI( S-\I RO t'.\r't o \.\ t_ trI()1t0\
(b) Arotber question that is frequantly asked, quite Now, as F or b (or both) are increased, distance a
often at the point where the FBD is being drawu also increases. But it camot go beyond the right
is the direction of the force of static friction. The edge of the block- So in extreme case (beyond
answer is: assume it to be an unknown vector i.e. which the block will top'ple down), the norrnal
let its component along the swface, along the reactio[ passes through E.
be F,. . If F" > 0 as a result of
chosen directior,
Now, ifF or b are firther inffeases, the block will
topple down. This is why the block having the
the solution, the choice previously made is broader base has less chances of toppling in
correct, otherwise it needs to be reversed. comparison to a block of smallq base. Because
(c) If it is known that the sr.rfaces are sliding, friction the block of larger base has more rnargin for the
is kinetic and its dtection is such as to oppose norrnal reaction to shift.
relative velocity between the surfaces. Its
Example-22
magnitude is ptN.
(d) In problems where it is not clear as to whether A uniform cube of side 'a' and Dass m rests orl a
rough horizontal tflble. A horizontal force F is
friction is static or kinetic, a safe method is lo
applied normal to one of the faces at & polnt
assume lhat it is static solve accordingly and
check for consistency: Ifthe check fails for directly above the centre ofthe face, at a hegbt 3
4
a set of surfbces/bodies, assume that Fe is abov€ the base. What is the minimum value of F
kinetic, i.e. Fu : t{N but along the proper for which the cube beirys to tip about En edge?
dircction that emerged as a result of the Solution :
previous solution (static assumption). The process ln the limiting case noffEl reaction lvill pass through
is repeated till the result is found to be O. The cube will tip about O if torque of F exceeds
consistent. the torque of mg.
,v
(e) Are there any shortcuts? No, there aren't any {
universal "shortcuts". A "shortcut'' may work in I

a tbw simple cases, but it would fail in other '..:-:r,.i.--r*F

j[.:irBlll I 3a
(f)
cases- It is best to avoid these.
There do exist problems which cannot be solved
#@ffi l*
entlely on the basis ofNe*ton's laws alone, rvith m9
or without comtraints. Most of these problems are
outside the preview of the syllabus. u*".. r[]1,*r[f]
"\2) o, .,1-*
(g) In case you have been left wondering about \4' 3

rolling frictioo" we will tell you only this: we

Therefore, minimum value ofF is 3 mg.
have ignored it because it is not so large as to be
of much consequence here. . Imtntrtsneous axis ofrotation:
A rigid body that is in
motion in general,
TOPPTING undergoes a of tanslation and
combination
Comider a force F is applied at a height b above rolation. Rolling motion. for example, is a
the base AE of the block. Further, suppose the combination. of translation and rotation. For such
Aiction f is sufficient to prevent sliding. In this motion, the axis of rotation changes in position
case, if the norDal reaction N also passes tkough and in orientation.
C, than despite the fact thal the block is in The instantaneous velocity of any particle, P, of
ffarslational equilibrium (F - f and N : mg), an the rigid body, can be written as:

unbalanced torque (due to the couple of forces F i.=io+6xi"

and f1 is there. This torque has a tendency to u,here io is the velociry ofthe origiu located on
topple the block about point E. To caacel the the axis of rotation, and is the positio:r vector
effect of this unbalanced torque the lormal $
reaction N is shifted towards right a distance 'a'
ofthe particle P about O. Here, dr is the angular
velocity of rotation of the rigid body about the
such that, net anticlockwise torque is equal to the
given axis. It can be proved that, for any moving
net clockwise torque-
N
rigid body, tbere exists a straight line passing
B through the body, for which" the velocity of the
particles lying on it is zero.
I This line is known as the instantaneous axis of
.rq rolatiorL because the instantaneous velocity of
(al
any particle of the body, nray be u'ritten in the
Fb
or t.b:(mg)aor a=-
mg
form:
Vp =Oxfr

15
R{)1 .,1'I' IO].'..tL ll O'l' I O.N PHYSI('S-Xl
where { is the position vector of this particle Solution :
\ .ith respect to a point on this line. The angular velocity of rotation of the cylinder is

This line, lherefore, can be regarded as an axis of o = v / r , clockwise about an &tis passing tkough the
rotation; but only for an instant. centre ofrEss ofthe cylinder.
How to lind position of IAOR
The position of ICR can be found out in lhe v
P
following cases.
Case I: T
If the velocity of a point on the body aDd angular v
velocity are given.
Draw a line perpendicular to t, the instantaneous
centre must be lying on this line at a distance
'r' given by r v/w : The velocity ofaly particle, P, is given by :
_ a / -'\
vP = \'r + (o(-k]x -rP
PT-
: where i =[P ;.s.
/"-\ _
Case II: t" =vi- -l-k lxOP. Let Q be the point through
If the lines ofaction oftu'o non-parallel velocities \r ,/
of nvo points ofthe rigid body are given. which the axis of rotation passes. Then va =0 (by
Dra$, the normals on the two non-parallel definition).
velocities i" and io at the points P and Q Using the expression given above,
respectively. The point of intersection of these
norrnals is the hstantaneous centre al the instant.
v^
-r=O=vi-'IxOQ or. 1l =ftxOQ
.'. lOQl =t, and OQ=-rJ; which is rhe position
vector of the particle in contact with the groutrd-
-e- The line of contact betwesn the cylinder aIld the
tc flat surface on which it rolls serves as the axis of
t- rotation al any instant.
tc

Case III: Example-24

If magaitudes and direction of two parallel
velocities are given. Find the position of I(lR rnd anguhr yelociqv of
the disc in the following cases as shown. Rrdius of
If figure (i). ifthe velocities V, and Vo are in the disc is R in each cas€.
opposite dlecaions, th€n IC must be lying in-
between P and Q.

5=L ,na rp +{o =d

ve rq
In figure (ii), if the two velocities Vn and Vo are o a
in the same directiorL the IC must be lying Soluflon :
outside PQ (near P if vp < ve and near Q if vp >
... v. 2R+x 2v
(r) f
2R+x
v,)). =-+
vQxvx
v!
-=-
VQ
-! ano i -rq =d
=2x=2R+x x:2R
Example-23
A cylinder of rrdius r undergoes purr rolling on a
x2R
flat horizontal surface with n speed v, as shown in (ir) -i
ZR-x 2v 2R-x
the ligure. Take the r-axis in the direction of Vq X x
motion ofthe cylinder, the y-axis verticfllly uplvflrd
and the z-axis out of the plane of the paper. find ..x=2Rl3 urO r=\=a
x2R
the instantaneous &xis of rotation.

16
PtIYSI( S-\ I R() I.!t.l I()\,\L llOl IO\
Rotetional Work end Power:
For a rigid body undergoilg translation as well as
rotation" the work done by all forces is given by
w*, =IIn d; ... (D

where, each force Fi acts at the poitrt with

position vector ! and drr represents the
infinitesimal displacement of the point of
6Fsin 0
application ofthe irh force (i.e. the change in ! ). or 0l=
,rt
The motion of the rigid body can be studied
equally well by studying the motion in terms of Example-26
the translation of the centre of rnass and rotation A uniform mlid cylinder of mass m and radius r
about the centre of rnass. The velocity of any undergoes pure rolling on a horizontal plnne under
panicle i is given by the well lorown relation:
the action of a horizontal force F pulling lt at its
v, =v* +to *R' ... (iD topmost point as sho*l in the ndjoining dirgram.
Ifthe cylinder is displnced by x, whnt is the
u&ere Ei represents the position vector of the it work done by f? Find the work done by friction as
particle u,ith respect to the c€nte ofmass.
welI.
The expression (i) can be simplified as follows:
F
dw"., =IF.d;

=tFi / since i, =91

+6*R,lat.
?' "", dr

= f F.n-at + lF,.1dx R'1 dt Solution :

The work done in translation is,
= r"" on- * I (n, . F, ).r,:at jF;,a[* =(F-Fi).x ... (,
Itrtegrating this rve get, Tle work done during rotalion is

w-, = JF"". aE.. * Ji,".a-'e. *nere a6 =aA J(F+F").!.do

tr (r+r")Jrrrc
He." {" =f,F, is the net force acting on the or (F+ Fo)-x . (iD
i The net work done is:
body, and i" = x Fi , .epresents the net w* = w.- + w-,
I[,
torque acting on the body about the centre-of- =(F-Fu)x+(F+S)x = 2F.x =F.(2x)
mass. The net work done by friction is zero, as static frictioo
The first term alone does not give the total work is a comtaint force.
done by all the forces acting on the body.
The net work done by all forces is F.(2x) .

ExaIuple-25 Example-27
A thin horizontal uniform rod AB of mass m rnd Find the angular momentum of a solid cylinder
length I can rotate freely about a yerticel nxis undergoing both translrtioD and rot8tion, about
passing through its end A. At r certain moment, the point A, ns sho$n in the figure. The mass ofthe
the end B stafts experiencing r constant force F cylinder is m, its radius is r, and il is not
which is elwnys pelpendicular to the original necessarily undergoing pure rolling.
position of the stationary rod and directed in a
hor2ontal plane, Find the nngular velocity of the
rod rs a function of its rotation angle 0 measured o
relntiYe to the initial positiotr. v E riarl
Solution : 'd-
Work done by the torque tr A
0

aw= J rd o= t[ Flcos 0d0 S0lution:

1
Lo =mv.OP+L* = mw + -mr-o)
AW = Flsin 6 2
(the plus sign is due to the fact tbat both terms are
Nott'. AW = Ak Flrino=1d'r'
23 clockwise).

t7
R0 l .\TI0N,\L -\l 01'I()\ PHYSI('S.\I
@;pt"-rt (ff"llrpt.-zl'l
Referring to the previous illustration, Iind the A cylinder is released ftom rest from the top of 8n
kinetic energy of the cylinder. incline of inclination 0 and length /. If the cylinder
Solutlon :
rolls without slippitrg, whnt rv l be its speed when
K-E = !mv' * !f 1.,' ),,' Itrcaches the bottom?
) 1l) t
Solution :
: Let the mass of the cylinder be m and its radius r.
24 +lmrrr.
lm.rr,
Suppose the linear speed of the cylinder when it
reaches the bottom is v. As the cylinder rolls without
. Kinetic Energi in Rolling Motion: slipping, its angular speed about its axis is ro =v/r .

The kinetic energy of a trody rmdergoing pure The kinetic energy at the bottom will be
rolling is given by the sum of two terms -
lt
K=-lo-+-mv-
(a) The kinetic eoergy of translation of the centre of 22
mass. rft .\l(o- + l
(b) The kinetic energy of rotation about an axis = -l)\)-rff- ) -mY-
)
Ihough the centre of mass.
1,1.3
Thus, total ff - ]-rr;'- *ll*.' = -mv_ + - mv_ = -mv-
424
.

2 2' This should be equal to the loss of potential energy

along with the constraint appropriate for rolling
q'ith or without slipping. mgl sin 0

Thus. lI mv: =mglsio0or, v - l4

-el
J
sin 0

18