Rotational Motion

Rigid body Two Important theorems on moment of inertia

Perpendicular Axis Theorem

A Only applicable to plane lamina (that means for 2-D objects only)
VA
1 IZ = IX + IY (when object is in x – y plane).
B Z
IZ
VB 2
IX
X

If the above body is rigid

Y IY
VA cos q1 = VB cos q2
Parallel Axis Theorem
Types of Motion of rigid body
(Applicable to any type of object) :

Pure Translational Pure Rotational Combined Translational and

Motion Motion Rotational Motion
M
Moment of inertia (i) d cm
Definition: Moment of Inertia is the rotational analogue of mass
for linear motion. It is the ability of a body to resist change in
angular velocity.
Moment of Inertia is a scalar (positive quantity).
I = m1r12 + m2 r22 + …
I Icm
= I1+I2 + I3 + …
I = Icm + Md2
SI unit of Moment of Inertia is Kgm2.
Moment of Inertia of:-
Radius of gyration (k)
A single particle
I = mr2 IA
where m = mass of the particle
r = perpendicular distance of the particle from the axis
about which moment of Inertia is to be calculated
k
For a continuous object A  A M
= ∫=
dI ∫ r 2 M
I dm
where, dI = moment of inertia of a small element
dm = mass of a small element
r = perpendicular distance of the particle from the axis

18 JEE (XI) Module-3 PW

 IA = Mk2
IA
k=
M

Table: Moment of Inertia of Some Regular Rigid Bodies

Moment of Inertia Radius of Gyration

Rigid Body Axis of Rotation
(I) (K)
1. ⊥ to the plane of ring and passing through its MR2 R
centre
1. Circular ring of mass M and
radius R.
2. In the plane of the ring and passing through its MR2/2
R/ 2
centre (or) passing through any diameter of ring

1. ⊥ to the plane of plate and passing through its MR2/2

R/ 2
centre
2. Thin circular plate of mass M
and radius R
2. In the plane of plate and passing through its centre MR2/4 R/2
(or) passing through any diameter of plate

3. Thin hollow sphere of mass M 1. Passing through its centre or any diameter 2MR2/3
2R / 3
and radius R

4. Solid sphere of mass M and 1. Passing through its centre or any diameter 2MR2/5
2R/ 5
radius R

1. ⊥ to the length of rod and passing through its centre ML2/12

L/2 3
5. Thin uniform rod of mass M
and L 2. ⊥ to the length of rod and passing through its end ML2/3
L/ 3

6. Thin uniform rectangular 1. ⊥ to the plane and passing through its M 2

plate of mass M Length L and centre (L + B2 ) L2 + B 2
12
Breadth B. 2 3

7. Thin square plate of mass M 1. ⊥ to the plane of plate and passing through its ML2/6
L/ 6
and side length L. centre
2. In the plane of plate parallel to any side and passing ML2/12
L/2 3
through centre of plate
1. About geometrical or natural axis MR2 R
8. Thin hollow cylinder of mass 2. ⊥ to the axis of cylinder and passing through its  L2 R 2 
M radius R and Length L centre M  + L2 R 2
 +
 12 2  12 2

1. About geometrical or natural axis MR2/2

R/ 2
9. Solid cylinder of Mass M 2. ⊥ to the axis of cylinder and passing through its
radius R and length L.  L2 R 2  L2 R 2
centre M  +  +
 12 4  12 4

P Rotational Motion
W 19
Torque Relation between Torque and Angular Momentum
   dL
τ= r×F τ=
dt
t = r F sinq
Torque is rate of change of angular momentum
t = r sinq F = r⊥F
Impulse of Torque
t = r F sinq = rF⊥
∫ τdt = ∆J
DJ = Change in angular momentum.
    Rolling Motion
= =
P MvCM Fexternal MaCM 1 1
Total kinetic energy =
2
MvCM + I cm ω2
Net external force acting on the body has two components, 2 2
tangential and centripetal. Total angular momentum about O = MvCMR + Icmw
v2
FC= maC= m = mω2 rCM
rCM M
Ft= mat= mα rCM v cm
R 
Rotational equilibrium
For translational equilibrium.
∑ Fx = 0 O
Pure Rolling (or Rolling without Slipping) on
and ∑ Fy =
0
Stationary Surface
The condition of rotational equilibrium is
 Condition : vcm = Rw
∑ τ =0
In accelerated motion acm = Ra

Angular momentum ( L ) If vcm > Rw then rolling with forward slipping.
Angular Momentum of a Particle about a Point If vcm < Rw then rolling with backward slipping.
p cos Total kinetic energy in pure rolling
 p 1 1  v2  1 2  k2 
r Ktotal = 2
Mvcm + ( Mk 2 )  cm2  = Mvcm 1 + 2 
2 2 R
  2  R 
p sin Dynamics:
     
τcm = I cm α, Fext = Macm , Psystem = Mvcm

Pure rolling motion on an inclined plane
O g sin θ
   Acceleration a =
L= r × p 1 + k 2 / R2
tan θ
L = rp sin q Minimum frictional coefficient µ min = 2 2
1+ R / k
 
L= r⊥ × p Angular momentum about axis O = about C.M. + L of C.M.
L
= p⊥ × r about O
L    
Angular momentum of a rigid body rotating about fixed axis L=O I CM ω + rCM × MvCM
LH = I H w 
y
LH = angular momentum of object about axis H. M
IH = Moment of Inertia of rigid object about axis H. CM v cm
w = angular velocity of the object. rcm
Conservation of Angular Momentum
Angular momentum of a particle or a system remains constant if
text = 0 about that point or axis of rotation.
x
Li = Lf ⇒ Iiwi = Ifwf O

20 JEE (XI) Module-3 PW