Lecture_13

Angular momentum
In physics, momentum is a fundamental concept. Momentum is determined by multiplying the
velocity of a particle by its mass. Its significance lies in that when a force acts on a particle, its
momentum changes. Conversely, in the absence of force, the momentum remains constant. When
dealing with multiple particles, the total momentum equals the sum of the momenta of all
individual particles. It is crucial to note that momentum is a vector quantity.

Today's lecture focuses on angular momentum, which is equally fundamental. This lecture will
explore how angular momentum shares properties with regular momentum and possesses
additional characteristics. This distinguishes it from a general definition of angular momentum.
Angular momentum of a single particle:

Angular momentum describes the rotational motion of an object. It is a vector quantity defined as
the cross product of the object's position vector and its linear momentum vector, for a chosen
origin, as shown in figure 13.1.

Mathematically,

L=rp

There are different ways to write angular momentum.

L = r p sin 
L = ( r sin  ) p = r⊥ p
Figure13.1: Relation between
L = r ( p sin  ) = r p⊥
angular and linear momentum.

Angular momentum of projectile:

A projectile is launched, following the trajectory of a parabola, originating from a specified point.
Our objective is to determine its angular momentum for point O, as shown in figure 13.2.

It is crucial to clearly define point O, as the calculation of angular momentum depends on the
reference point from which the projectile is thrown.
Let’s find angular momentum 𝑳 about origin O after some time
t:

x = ( v0 cos  ) t eq(1)
1
y = ( v0 sin  ) t − gt 2 eq(2)
2
v x = v0 cos  eq(3)
v y = v 0 sin  − gt eq(4)
Figure13.2: Velocity
components of a projectile.

( ) (
L = r  p = x iˆ + y ˆj  v x iˆ + v y ˆj m )
(
L = m xv x iˆ  iˆ + xv y iˆ  ˆj + yv x ˆj  iˆ + yv y ˆj  ˆj )
(
L = m xv x (0) + xv y (kˆ) + yv x (−kˆ) + yv y (0) ) iˆ  iˆ = kˆ  kˆ = ˆj  ˆj = 0

L = m ( x v y − y v x ) kˆ iˆ  ˆj = kˆ, ˆj  iˆ = −kˆ
putting values from eq(1-4), we get
 1 
L = m  ( tv0 cos  ) (v 0 sin  − gt ) − {(tv 0 sin  − gt 2 )v 0 cos  }  kˆ
 2 
 1 
L = m  (tv0 cos  v 0 sin  − gt 2 v 0 cos  ) − {tv 0 sin  v 0 cos  − gt 2 v 0 cos  }  kˆ
 2 
 1 
L = m  tv0 cos  v 0 sin  − gt 2 v 0 cos  − tv 0 sin  v 0 cos  + gt 2 v 0 cos   kˆ
 2 
1 
L = m  gt 2 v0 cos  − gt 2 v 0 cos   kˆ
2 
1 
L = mgt 2 v 0 cos   − 1 kˆ
2 
 1
L = mgt 2 v 0 cos   −  kˆ
 2
m
L = − gt 2 v0 cos  kˆ
2

Here we are seeing that the angular momentum is proportional to time. It changes with t-square
and is increasing in the negative k-direction because it has a minus angular momentum.
Torque (reminder):

As we know torque is given as,

  = r F
 = rF sin 

Relation between torque and angular momentum

L=rp

L + L = ( r + r )  ( p + p )

L + L = r  p + r  p + r  p + r  p
L + L = L + r  p + r  p
r  p = ignored, very small term

 L = r  p + r  p

L r   p +  r  p r   p  r  p
= = +
t t t t
 p r
=r + p
t t

Take limit as t → 0 :
L dL
lim =
t →0 t dt

dL d p dr
 =r + p
dt dt dt

dr
But is v and p = m v !
dt

dr
 p = v  mv = m ( v  v ) = 0
dt

And we are left with only,

dL dp
=r
dt dt

Now use Newton’s second law:

 dp
F=
dt
dL
 = r F
dt

dL
 =
dt

dL
= 
dt

The net torque acting on a particle is equal to the time rate of change of its angular momentum.

The Spinning Top:

As we observed from experiment, the torque changes the direction but not the magnitude of the
angular momentum and the motion is called precession, as shown in figure 13.3.

Let’s do it mathematically, starting from torque.

 = r F
where F = mg , so
 = Mg r sin  eq(1)

 is perpendicular to L as shown in figure 13.4

 it cannot change the magnitude of L !!

we know form figure 13.5

L =   t
s
using  = , we get
r
L Figure 13.3: The precession
 =
L sin  about the z-axis.
or,
 t
 = eq(2)
L sin 
 Precession speed P is:

P =
t
using  from eq(2)
 t 1
=
L sin  t

=
L sin 
using  from eq(1)
Mgr sin 
=
L sin 
Mgr
P =
L

Here, precession is proportional to 1/L. So, as angular momentum decreses with time the
precession increase.

Figure 13.4: Torque, weight, Figure 13.5: The incremental

and component of radius is change in angular momentum
being drawn. and angular displacement is
presented.
Example:

A mass m is released from a distance b along x-axis. A

Position vector is r from origin O, as shown in the

figure 13.6. Calculate torque and angular momentum.

Solution:

Let’s calculate torque,

 = r F
 = r F sin 
putting r sin  = b and F = mg from figure 13.6
we get
 = mgb Figure 13.6: Direction of
torque is into the paper.
Right hand rule shows that  is directed
inwards, as shown in figure 13.6.

Let’s calculate angular momentum,

L=rp
L = rp sin 
putting r sin  = b and p = mv = mgt
form figure 13.7, we get
L = mgbt

L is directed inwards, as shown in figure 13.7.

We know angular momentum and torque are connected, so let’s

calculate torque from angular momentum and check our
Figure 13.7: The direction
expression.
of angular momentum is
into the paper.
 dL d
= ( mgtb ) k
dt dt
= mgb k
 = mgb k
As we expected, it is the same.

Angular momentum for a system of particles:

Suppose we have large number of particles in a system, as shown in figure 13.8, to calculate its
total angular momentum we do vector addition of angular momentum for individual particles.

N
L = L1 + L2 +  + LN =  Ln
n =1

N
dL dL1 dL2 dL dL
= + +  + N =  n
dt dt dt dt n =1 dt

d Ln
Since =n
dt
N Figure 13.8: A general position
dL
=  n vector for a system of particle.
dt n =1

Thus, the time rate of change of the total angular momentum of a system of particles equals the
net torque acting on the system.

There are two sources of the torque acting on the system:

1) The torque exerted on the particles of the system by internal forces between the particles.

2) The torque exerted on the particles of the system by external forces.

 =  int
+  ext

If the forces between two particles, as shown in figure 13.8 not only are equal and opposite but are
also directed along the line joining the two particles, then the total internal torque is zero.
  int
=0

 int = 1 +  2

= r1  F12 + r2  F21

but

F12 = −F21 = Frˆ12

Figure 13.9: Two particles at
position vector r1 and r2
   int = ( r1 − r2 )  F12 = r12  ( F rˆ12 )
respectively.
= F ( r12  rˆ12 ) = 0

Hence

dL
 =  ext
=
dt

The net external torque acting on a system of particles is equal to the time rate of change of the
total angular momentum of the system.

dL
 ext
=
dt

dL
F ext
=
dt

Conservation of Angular Momentum:

If no net external torque acts on the system, then the angular momentum of the system does not
change with time.

dL
= 0  L = a constant
dt

Mathematical formulism of linear motion and angular motion shows some resemblance. As clear
from eq(1) now go for angular momentum L since it is origin dependent while linear momentum
p is not.
 dp dL
F=  = eq(1)
dt dt
p = m v  L = ??

Figure 13.10: Angular momentum

for two different origins is different.

L depends on the choice of the origin, from figure 13.10 we get

L = r   p = ( c + r )  p = c  p + L

Rotation of Rigid Bodies:

A rigid body is an object whose shape doesn't deform under the influence of external forces. In
other words, the distances between points on the object remain constant. Consider a rigid body
that rotates about z-axis, as shown in figure 13.11. As reference line AP rotates through an angle
all the points on it move with the same angular speed.
 Figure 13.11: Rigid body rotates
about z-axis.

Kinematics of a rigid body can be described by the motion of point P. There are two ways to
understand one is by observing the motion of the point P as shown in figure 13.12 and the other is
by observing the motion of cross-sectional slice of the rigid body, as shown in figure 13.13.

Figure 13.12: Motion of point P with Figure 13.13: Motion of a cross-

translated coordinates. section of rigid body.
Linear and angular velocity:

Let’s look at linear and angular velocity of point

P. Their vector representation along with
components of position vector r is shown in
figure 13.14.

v =   r eq(1)
v =  r sin 

Figure 13.14: Linear and

angular velocities of point P.

Linear and angular acceleration:

As we know acceleration is rate change of velocity so using eq(1) we can get,

dv d
a= = (  r )
dt dt
d dr
= r +
dt dt
d dr
= r +v = and v =
dt dt
a = aT + aR

Where a T and a R are tangential and radial

(towards the point A) components of acceleration,

respectively, as shown in the figure 13.15.

Figure 13.15: linear and

angular acceleration of point P.
Now let’s discuss a special case in which there are two equal
masses. In this way, the center of mass will be in between the
two. Axis of rotation passes through the middle, as shown in
figure 13.16. Here, the direction of angular momentum is along
the z-axis same as of angular momentum.

(
L = 2mr 2  )
L = I

Figure 13.16: Two equal

masses rotating about the z-
axis.
Problem # 1:

Which is greater?
(a) The angular momentum of the Earth due to rotation on its axis.
(b) The angular momentum of the Earth due to its orbital motion around the sun.

Solution:

Lrot is the angular momentum of earth due to

rotational motion about its own axis and Lorb is the

angular momentum of earth due to the orbital

motion about the sun. RE is the radius of the earth

and Rorb is the distance between the sun and the

earth (clearly Rorb RE ).

 2  2
Lrot = I  =  MRE2   eq(1) I = MRE2 for solid sphere
5  5
Lorb = Rorb p = Rorb Mv = Rorb M ( Rorb ) = MRorb
2
 eq(2)
By dividing eq(2) by eq(1), we get
Lorb 2
MRorb
=
Lrot  2 2 
 MRE  
 5 
2
Lorb 5 R 
=  orb 
Lrot 2  RE 
Rorb
we know, Rorb RE or 1 so,
RE
2
Lorb 5 R 
=  orb  1  Lorb Lrot
Lrot 2  RE 

The angular momentum of the earth due to its orbital motion aroud the sun is much greater than
the angular momentum of the earth due to rotation about its axis because of the fact that the
distance between the sun and the earth is much larger than the radius of the earth.

Problem # 2:

A mass m is tied to a pulley of mass M with a massless rope, as

shown. As mass m moves down, the pully starts rotating. What is
angular acceleration?

Solution:

Total angular momentum of system consists of two sections, one is

due to pully and other is due to mass m. Origin is at center of the pully
so,

L = I  + mvR

We also know,

dL
=  = ( mg ) R
dt

We get,
 d
( mg ) R = ( I + mvR )
dt
d
( mg ) R = I   + mR  
dv
 dt   dt 
d dv
( mg ) R = I + mRa  = and a =
dt dt

a
a =  R or = relation between linear and angular accleration
R
1
I= MR 2 moment of inertia of pully
2

1 
 mgR =  MR 2  (a / R) + mRa
2 

2mg
a=
M + 2m

Problem # 3:

A disc which comes rotating and gets attached to another disc below. This upper disc which is
twice as heavy as the lower disc and twice as big, when it gets attached to the lower disc, then
these three discs start rotating together. What is the angular velocity?

Solution:

Here, angular momentum is conserved because there is no external torque. So,

 I ii = I f  f
I 
  f = i  i 
 If
 

1 3
For one disc I i = I = MR 2 and for three discs I f = I = MR 2
2 2

 MR 2 2 
 f = i   
 2 3MR 2 
1
 f = i
3

So, the final angular velocity is one third of the initial angular velocity.

Additional Problems:

Problem # 1:

If the radius of the earth suddenly shrinks to

half its present value, while the mass of the
Earth remains unchanged, what will be the
duration of one day where earth assumed to
be a perfect sphere?

Solution:

Applying the law of conservation of angular momentum

I ii = I f  f

2
Moment of inertia of a solid sphere I = MR 2
5

angular displacment 2
= =
time T

2 2   2  2 
2  2

 MRi   =
  MR f  
5   Ti  5   T f 
 2
R 
2 2
Ri2 R f 1
= or T f =  f  Ti =   (24hours)
Ti Tf  Ri  2

1
T f =   (24hours) = 6 hours
4

So, duration of one day will be 6 hours.

Problem # 2:

A wheel has eight spokes and a radius of

30 cm. It is mounted on a fixed axle and is
spinning at 2.5 rev/s. You want to shoot a
24 cm arrow parallel to this axle and
through the wheel without hitting any of
the spokes. Assume that the arrow and the
spokes are very thin. (a) What minimum
speed must the arrow have? (b) Does it
matter where between the axle and the rim of the wheel you aim? If so, where is the best location?

Solution:

length of the arrow

minimum speed =
time to pass one spoke
2 r
s = distance traveled by one spoke =
8
distance traveled by one spoke
time to pass one spoke =
speed of spoke
s 2 r
time to pass one spoke = =
v 8r
 8r
So minimum speed = = 4.8 m/s
2 r

Does not matter where we aim!!

Problem # 3:

A disk of mass M = 2.5 kg and radius R = 20 cm is mounted

on a fixed horizontal axle. A block of mass m = 1.2 kg hangs
from a light cord that is wrapped around the rim of the disk.
Find the acceleration of the falling block, the tension in the
cord, and the angular acceleration of the disk.

Solution:

 F = mg − T = ma
ma = mg − T eq(1)
 = r F also  = I
 = TR eq(2)
1 a
 = 2 MR 2
  eq(3)
R
a = R

from eq(2) and eq(3) we get

1 a
TR = MR 2  
2 R
1
T= Ma eq(4)
2
substituting eq(4) into eq(1), we get
1
ma = mg − Ma
2
1
ma + Ma = mg
2
M + 2m
a = mg
2
2m
a=g eq(5)
M + 2m
a = 4.8 m/s 2
putting eq(5) into eq(4), we get
M
T = mg
M + 2m
T = 6.0 N
a
 = = 3.8 rev/s 2
R