Angular

 momentum

About  A  Point

1
A.M.  of  a  par6cle  about  a  point
L=r⇥p

dL
=r⇥F=N (torque  about  the  origin)
dt

N = 0 =) L = const
Angular  Momentum  of  system  of  
par6cles
 X
L= ra ⇥ p a
a
X
0 0
= (RCM +⇥ (PCM +
ra ) pa )
a X
0 0
= RCM ⇥ PCM + ra ⇥ p a

L = RCM ⇥ PCM + LCM

= Lorbit + LCM
Angular  Momentum
 Equa6on  of  mo6on
dL X
= ra ⇥ Fa
dt X XX XX
= ra ⇥ Fa,ext + ra ⇥ fa,b + rb ⇥ fb,a
a a b a b
X XX
= ra ⇥ Fa,ext + (ra rb ) ⇥ fa,b
a a b

dL
= Next
dt

dPCM
= Fext
dt
 Rigid  body

A rigid body is one in which the relative

distance between any pair of points
remains constant.
Angular  Velocity
Angular  Velocity  about  a  fixed  axis

Reference  line
dr = d ⇥ r = (⌦ ⇥ r)dt
v =⌦⇥r
Angular  Velocity  SAME  for  all  points

VA = !O ⇥ r = !O ⇥ (a + r0 ) = VO0 + !O ⇥ r0

Angle  made  by  OA  wrt  ref  line  =  angle  made  by  O’A

The  angular  velocity  of  a  rigid  body  is  the  same  for  all  
points  on  the  rigid  body.  
Disk  mo6on
Orbital  mo6on  +  Spin
Earth’s  mo6on
365.24  days:    
Returns  to  the  original  line
2⇡
24  hours: ✓ = 2⇡ +
365.24

Tsidereal  = 365.24/365.24  x  
24  hour  

=  23  h  56  m  
Kine6c  energy
 Kine6c  energy  of  a  rigid  body
X1 X
T = ma va2 = ma (VO + ⌦ ⇥ r0a )2
a
2 a

1 X1 X
= M VO2 + ma (⌦ ⇥ r0a )2 + VO · ( ma ⌦ ⇥ r0a )
2 a
2 a

Choose O  =  CM  
Or, Vo  =  0

1 X1 1
2 0 2
T = M VO + ma (⌦ ⇥ ra ) = M VO2 + TCM
2 a
2 2
 About  a  fixed  axis
1X
Trot = ma (⌦ ⇥ ra )2
2
1X
= ma ⇢2a ⌦2z
2
1 X
= ( ma (ya2 + x2a ))⌦2z
2
1
= Izz ⌦2z
2
About  a  arbitrary  (rota6ng)  axis
1X
Trot = ma (⌦ ⇥ ra )2
2
1X
= ma [(⌦y za ⌦z ya )2 + (⌦z xa ⌦ x za ) 2
2
+(⌦x ya ⌦y x a ) 2 ]
1 XX
= Iij ⌦i ⌦j
2 i j

Moment  of  iner6a

 1 XX
Trot = Iij ⌦i ⌦j
2 i j

X
Ixx = ma (ya2 + za2 )
X
Iyy = ma (x2a + za2 )
X
Izz = ma (x2a + ya2 )
X
Ixy = Iyx = ma xa ya
X
Iyz = Izy = ma y a z a
X
Ixz = Izx = ma xa za

6  Terms  because  of  symmetry

 Principal  Axes
Symmetric  axes;  Always  possible  to  find  a  set  of  
principal  axes  (math  theorem)
X
Ixx = ma (ya2 + za2 )
X
Iyy = ma (x2a + za2 )
X
Izz = ma (x2a + ya2 )
Ixy = Iyx = 0
Iyz = Izy = 0
Ixz = Izx = 0
 KE  with  Principal  Axes
1 XX
Trot = Iij ⌦i ⌦j
2 i j

1
Trot = [Ixx ⌦2x + Iyy ⌦2y + Izz ⌦2z ]
2
 1
Izz = M R2
2
1 1
Ixx = M R + M H 2.
2
4 12
1 1
Iyy = M R + M H 2.
2
4 12
Ixy = Iyz = Izx = 0
 Disk  mo6on

1 1 1
Trot = Ixx ⌦x + Iyy ⌦y + Izz ⌦2z
2 2
2 2 2
Sliding  Ladder

Example  17.1  
of  Verma:  Intro  to  Mech.
Parallel  Axis  Theorem

0
Izz = Izz,CM + M a2 ,
Angular  Momentum  of  Rigid  
Bodies
 X
L= ra ⇥ p a

About  a  fixed  axis  (wrt  any  point  on  the  principal  axis)

X
L= (⇢a r̂) ⇥ (ma ⌦⇢a ˆ) = Izz ⌦ẑ
a
General  rota6on
X
L= ra ⇥ ma (⌦ ⇥ ra )
X
= ma [⌦ra2 ra (⌦ · ra )]

X
Lx = ma [⌦x ra2 xa (⌦ · ra )]
X X
= ma (ya2 + za2 )⌦x ma x a y a ⌦ y
X
ma xa za ⌦z

= Ixx ⌦x + Ixy ⌦y + Ixz ⌦z

Ly = Iyx ⌦x + Iyy ⌦y + Iyz ⌦z

Lz = Izx ⌦x + Izy ⌦y + Izz ⌦z

X
Li = Iij ⌦j
j

L    ||  to  Ω    only  for

(a)  if  I  is  diagonal  (cube  or  sphere)  

!
(b)  Ω  along  one  of  the  principal  axis
Rota6ng  cylinder

⌦ = ⌦x x̂ + ⌦z ẑ

L = Ixx ⌦x x̂ + Izz ⌦z ẑ
 L  vs.  P

L    not  necessarily  
P    ||      v parallel  to      Ω

Propor6onality   Propor6onality  
constant  a  scalar constant  a  tensor

P  independent  of   L  dependent  on  

a  choice  of  origin the  choice  of  
origin
Torque-­‐free  precession
haps://www.youtube.com/watch?v=r_EgzvIMWQw
 ⌦ = ⌦z ẑ + ⌦x x̂
⌦ = ⌦S + ⌦P

⌦z = ⌦S + ⌦P cos ✓
⌦x = ⌦P sin ✓

Lx = L sin ✓ = Ixx ⌦x

Lz = L cos ✓ = Izz ⌦z
⌦x L
⌦P = =
sin ✓ Ixx
 
Izz Ixx
⌦ S = ⌦z ⌦P cos ✓ = ⌦z 1 = ⌦P cos ✓ 1
Ixx Izz
 
Ixx
⌦S = ⌦P cos ✓ 1
Izz

For  cylinder  with Ixx = N Izz

⌦S = ⌦P cos ✓(N 1)

For  frisbee
⌦P cos ✓
⌦S =
2
haps://www.youtube.com/watch?v=EwcP36CCe5Q
 Chandler’s  Wobble

2004-­‐2006

Ixx = Iyy = 0.329591M R2 ; ⌦S

2
⇡ 1/304
Izz = 0.330675M R ⌦z

hap://www.michaelmandeville.com/ Actual  435  days

earthmonitor/polarmo6on/
2006_wobble_anomaly.htm
hap://www.sciencedaily.com/releases/2011/12/111222103114.htm