Chapter 11

Angular momentum: general rotation

 Outline
• Angular momentum
• Conservation of angular momentum
• Total angular momentum of a rigid body
• Rotational collision
• Spinning top and gyroscope
• The Coriolis effect
Angular momentum
 Angular Momentum: Definition p⃗ = mv⃗
m θ
v⃗
⃗
L Q ≡ r Q⃗ × p⃗ = m( r Q⃗ × v)⃗ C r Q⃗
rQ,⊥
magnitude: L ⃗Q = mvrQ sin θ Q : reference point

direction: L ⃗Q, ⊗
rQ,⊥

Angular momentum depends on the reference point you choose

(Not like momentum).
It is NOT an intrinsic property of a particle. e.g. L ⃗C = 0 .

This special property makes angular momentum more difficult to learn

 y ⃗
v(t)
CASE I: Projectile Motion
v0⃗
r C⃗
angular momentum relative to point C
t = 0, ⃗
LC = 0
any t > 0, ⃗
LC ≠ 0
θ x
C
angular momentum changes all the time
 ⃗
v(t)
CASE II: Circular motion
r C⃗

L ⃗C = m r C⃗ × v⃗ = mrCv C
r C⃗
which does NOT change r v⃗
Q

Question: how about other reference point (Q)?

Point Q: It does not
Only at point C, angular momentum is conserved
 Torque and angular momentum

More general
(single particle, later we will get to this for a system of particles):

⃗
L Q = r Q⃗ × p⃗
dL ⃗ d d r Q⃗ dp⃗
Q
= ( r Q⃗ × p)⃗ = × p⃗ + r Q⃗ ×
dt dt dt dt
0
dp⃗
= mv⃗ × v⃗ + r Q⃗ ×
dt
= r Q⃗ × F ⃗

τQ⃗ ≡ r Q⃗ × F ⃗ : torque
 dL⃗
CASE II: Constant circular motion
= r⃗ × F ⃗
⃗
v(t) dt
L ⃗C = m r C⃗ × v⃗ = mrCv
r C⃗
which does NOT change
C
r C⃗
⃗
⃗
r C⃗ × F = 0 →
d L C
=0
r v⃗
dt Q
Conservation of angular momentum

Question: how about other reference point (Q)?

d L ⃗Q
Point Q : it does not r Q⃗ × F ⃗ ≠ 0 → ≠0
dt
 Angular momentum of a rigid body
vi = riω
v⃗ mi
L⃗ C,i = mi rC,i vi sin 90 ∘
ω P
dθ ri
2
= mi rC,i vi = mi rC,i ω x
C

L⃗ 2
∑
C,disk = ω mi rC,i
A
i
= Icω
Question:
Is this angular momentum L ⃗C,disk different for some other
point? (e.g. some point “A”)

Answer:
No, we call it “spin”.
(rotation about its CM)
Conservation of angular
momentum
 p⃗ = mv⃗ ⃗
L = Iω⃗
P: Momentum L: Angular Momentum

⃗
F ⃗ = ma ⃗ =
d p⃗ dL
∑ τ⃗ = I α ⃗ =
dt ∑ dt

F ⃗ = 0 ⇒ p⃗ = constant τ ⃗ = 0 ⇒ L ⃗ = constant
∑ ∑

Conservation of Conservation of
Linear Momentum Angular Momentum
Experiment: ice-skater's delight.
Conceptual Example: Your physics
teacher is holding a spinning bicycle
wheel while he stands on a stationary
frictionless turntable. What will
happen if the teacher suddenly flips the
bicycle wheel over so that it is spinning
in the opposite direction?

⃗
Total angular momentum initially is L vertically upward.
⃗
L is conserved wheel’s angular momentum after being
⃗
flipped over is − L downward, the angular momentum of
⃗
teacher plus turntable will have to be 2 L upward.
 GP 10-8: Clutch of two plates

A simple clutch consists of two cylindrical plates that can be pressed together to connect
two sections of an axle, as needed, in a piece of machinery. The two plates have masses
MA = 6.0 kg and MB = 9.0 kg, with equal radii R0 = 0.60 m. They are initially separated.
Plate MA is accelerated from rest to an angular velocity ω1 = 7.2 rad/s in time Δt = 2.0 s.
Calculate:
(a) the angular momentum of MA,
(b)the torque required to have accelerated MA from rest to ω1.
(c) Plate MB, initially at rest but free to rotate without friction,
is placed in firm contact with freely rotating plate MA, and
the two plates both rotate at a constant angular velocity ω2, MB
which is considerably less than ω1. Why does this happen,
and what is ω2? MA
ω1
Solution
1
(a) LA = IAω1 = MAR02ω1
2
1 2 2
= (6.0kg)(0.60m) (7.2 rad/s) = 7.8kg ⋅ m /s
2
2
ΔL 7.8 kg ⋅ m /s − 0
(b) τ = = = 3.9m ⋅ N
Δt 2.0s

(c) IAω1 = (IA + IB)ω2

( IA + IB ) ( MA + MB )
IA MA
ω2 = ω1 = ω1

( 15.0kg )
6.0kg
= (7.2 rad/s) = 2.9 rad/s
Constant Angular Acceleration Constant Acceleration

dθ dω dx dv
ω= ; α= v= ; a=
dt dt dt dt

ω = ω0 + αt v = v0 + at
1 2 1 2
θ = θ0 + ω0t + αt x = x0 + v0t + at
2 2
2 2
ω = ω0 + 2α(θ − θ0) v 2 = v02 + 2a(x − x0)

dL⃗
F⃗=
d p⃗
τ⃗ =
dt dt

( 2I )
2
1 2 L 1 p 2
KErot = Iω = KEtran = Mv 2 =
2 2 2M
P = τω P = Fv
Total Angular Momentum of a Rigid Body
 z
Spin and Orbital Angular Momentum (again)
r′i⃗
r i⃗ = r CM
⃗ + r′i⃗ ; vi⃗ = vCM
⃗ + v′i⃗ r i⃗ CM

L⃗ =
⃗
r CM
∑
mi r i⃗ × vi⃗ O
x y
∑
= ⃗ + r′i⃗ ) × (vCM
mi( r CM ⃗ + v′i⃗ )
i 0 0

∑ ∑ ∑ ∑
= ⃗ × vCM
mi r CM ⃗ + r CM
⃗ × miv′i⃗ +( mi r′i⃗ ) × vCM
⃗ + mi r′i⃗ × v′i⃗
i

∑
Let p⃗CM = M vCM
⃗ where M = mi
i

L ⃗ = r CM
∑
⇒ ⃗ × p⃗CM + r′i⃗ × p′⃗i
or L ⃗ = L ⃗O + L ⃗CM
S (For a rigid body)











 ⃗ ⃗ ⃗
L = LO + LS CM

• Orbital angular momentum:

–The value will depend on the reference point
–e.g. the earth rotates around the sun. The angular momentum
(orbital) does not change only when your reference point is on Sun
• Spin angular momentum:
–an object rotates about its center of mass. This angular momentum
is independent of the reference (you got the same answer in the
center of mass or other point)
–an intrinsic property of an object
–e.g. the Earth is spinning about its center of mass, so the Earth has
an intrinsic spin angular momentum.
• Orbital angular momentum:
- The value will depend on the reference point
- e.g. the earth rotates around the sun. The angular momentum
(orbital) does not change only when your reference point is on Sun
p⃗

r⃗

• Spin angular momentum: Sun Earth

- An object rotates about its center of mass. This angular

momentum is independent of the reference (you got the same
answer in the center of mass or other point)
- An intrinsic property of an object
- e.g. the Earth is spinning about its center of mass, so the
Earth has an intrinsic spin angular momentum.
 Example
Find the angular momentum relative to O of a pure rolling disk
1 2
(radius R and moment of inertia I = mR ) .
2

L ⃗ = ?
O,CM r⃗ m v⃗
⃗
O
LS = ?
y
L ⃗ = ?
tot x
 Example
Find the angular momentum relative to O of a pure rolling disk
1 2
(radius R and moment of inertia I = mR ) .
2
L ⃗tot = L ⃗O,CM + L ⃗S
⃗
O r⃗ m v⃗
L O,CM ⃗ = − mRvz ̂
= m r ⃗ × vCM
⃗
y
L S = I ω ⃗ = − ICM ωz ̂
⃗ 3
L tot = − mvRz ̂
x
2
GP 10-14
Example

Find the angular momentum relative to O of a pure rolling sphere

(radius R and moment inertia I = 2/5 mR2 ) .

A
m v
v C
4R
y
v B O
2R
x
 A
m v
v C
4R
y
v B O
2R
x

( )
L ⃗A = − 3mvR − mvR z ̂ = −
2 17
mvRz ̂
5 5

( )
L ⃗B = − mvR + mvR z ̂ = − mvRz ̂
2 3
5 5

( )
L ⃗C = mvR + mvR z ̂ = mvRz ̂
2 7
5 5
 Summary
Single particle Rigid body
(reference point Q ) (rotating about a fixed axis, A )

L ⃗Q = r Q⃗ × p⃗ = m( r Q⃗ × v)⃗ (1) L ⃗A = IAωA (2)

τQ⃗ ≡ r Q⃗ × F ⃗ (3) τA⃗ ≡ IAαA (4)

d L ⃗Q
= τQ,ext
⃗ ⃗
= r Q⃗ × F ext (5) Rotation about a stationary
dt axis through the center of mass
p⃗ L ⃗CM = ICM ωCM (6)
m θ
v⃗ (Spin) angular momentum
r Q⃗ pure roll:
rQ,⊥
dθ dvCM dω
vCM = vcirc = R = Rω, aCM = =R = Rα
dt dt dt
4.3 Bicycle Wheel
 skidding and slipping (vCM ≠ Rω )

• skidding: vCM < Rω • slipping: vCM > Rω

rolling too fast, rolling too slow
easy to lose control
Rω Rω

vCM vCM

fk fk
vCM ↑ , ω ↓ vCM ↓ , ω ↑
until vCM = Rω until vCM = Rω
Bicycle Wheel: re-visit
A spinning wheel with angular speed ω0 is released to the floor with zero speed for
the center of mass relative to the floor.
Initially the wheel will skid on the floor but gain velocity for the linear motion in
the meantime.
At what time after its release, will the wheel execute pure rolling motion on the
floor? Assume that the wheel has mass M and radius R.

t = 0,
vCM = 0 and ω = ω0
⃗
vCM
Bicycle Wheel: re-visit
(a)What is the total torque about the point S for the wheel is rolling
(before pure rolling) on the ground?
(b)What is the magnitude and direction of the angular momentum of
the wheel about the point S just before the wheel touches the
ground?
(c) What is the magnitude and direction of the angular momentum of
the wheel about the point S when the wheel is rolling without
slipping (pure roll)?
(d) When the wheel is rolling without slipping what is the
relation between the final center of mass velocity and the vCM, f ω0
final angular velocity ωf ?
t = 0,
vCM = 0 and ω = ω0 mg ⃗
vCM
FN
S fK
d
(a)What is the total torque about the point S for the wheel is rolling (before pure
rolling) on the ground?
(b)What is the magnitude and direction of the angular momentum of the wheel about
the point S just before the wheel touches the ground?
(c) What is the magnitude and direction of the angular momentum of the wheel about
the point S when the wheel is rolling without slipping (pure roll)?
0 ω0

(a) τtotal
⃗ = d ⃗ × fk ⃗ + r CM,S
⃗ × mg⃗ + d ⃗ × F N⃗
d ⃗ ∥ f k⃗ = mgd, ⊗ = mgd, ⊙ ⃗
r CM,S mg ⃗
vCM
FN
=0 S fK
d
⃗ i
(b) L CM,S = ICM ω0, ⊗

⃗ f
⃗
(c) L CM,S = r CM,S × mvf⃗ + ICM ωf
= mRvCM, f + ICM ωf , ⊗
 i
L = ICM ω0 , Lf = mRvCM, f + ICM ωf

When the wheel is rolling without slipping what is the relation between
the final center of mass velocity and the vCM, f final angular velocity ωf ?

vCM, f = Rωf ωf
angular momentum conserved →
R
LS,i = ICM ω0
⃗
r CM,S ⃗ f
vCM,
= LS, f = mRvCM, f + ICM ωf
S
vCM, f
= mRvCM, f + ICM
R

ICM Rω0
vCM, f =
ICM + mR 2
 i
L = ICM ω0 , Lf = mRvCM, f + ICM ωf

At what time after its release, will the wheel execute pure rolling motion
on the floor?

ICM Rω0 ω0
vCM, f =
ICM + mR 2

⃗
r CM,S mg ⃗
vCM
FN
vCM,i = 0 S fK
d

vCM, f = vCM,i + atf fk = ma

1 ICM Rω0 Rω0 2 The same as what we derived

tf = = (with ICM = mR )
μk g ICM + mR 2 2μk g from rotational kinematics!
GP 10-15 Bowling ball problem
(a)Draw the free body force diagram
(b)What is the torque relative to point S ?
(c) Find the angular momentum Li relative to point S when the bowling
ball just touch the ground.
(d)Find the angular momentum Lf relative to point S when the ball is
rolling without slipping.
(e) What is the condition for pull roll here?
(f) Find the velocity, vf when the bowling ball is rolling without slipping.

r
vCM = v0 and ω0 = 0

Assuming the ball is initially not rolling.

 skidding and slipping (vCM ≠ Rω )

• skidding: vCM < Rω • slipping: vCM > Rω

rolling too fast, rolling too slow
easy to lose control
Rω Rω

vCM vCM

fk fk
vCM ↑ , ω ↓ vCM ↓ , ω ↑
until vCM = Rω until vCM = Rω
 Bowling ball problem

(a)Draw the free body force diagram

Li = Lf ωf

v0⃗ vf⃗
FN
S fk mg

vf = Rωf
d

(b)What is the torque relative to point S ?

⃗
τtotal = d ⃗ × fk ⃗ + r CM,S
⃗ × mg⃗ + d ⃗ × F N⃗ =0

d ⃗ ∥ f k⃗ = mgd, ⊗ = mgd, ⊙
 Bowling ball problem

(c) Li relative to point S

L ⃗iCM,S = r S⃗ × mv0⃗ = − Rmv0 z ̂

(d) Lf relative to point S

L ⃗ f
= r ⃗ × m v ⃗ + I ω ⃗ = − (Rmv + I ω ) z ̂
CM,S S f CM f CM f

(e) Condition for pull roll: vf = Rωf

v0 5 2
(f) vf = I
→ v0 (with Isphere = mR 2 )
1+ 7 5
mR 2

Li = Lf ωf

v0⃗ vf⃗
S fk
vf = Rωf
THE END