TORQUE

Torque is the ability of a

force to rotate an object.
•Forces determine translational motion.
—Torques determine rotational motion.
 Torque vector

Torque magnitude
𝜏 = 𝑟𝐹 sin 𝜙

𝑟⃗ is the position where 𝐹⃗ is applied 𝜙 is the angle between 𝑟⃗ and 𝐹⃗

(as measured from the rotation axis) when they are drawn tail-to-tail
Torque direction: RHR
 Quick Question
The figure shows a force P being applied to one end of a lever of length L.

(a) What is the magnitude of the torque of this force about point A?

i. 𝑃𝐿 sin 𝜃
ii. 𝑃𝐿 cos 𝜃
iii. 𝑃𝐿 tan 𝜃

(b) What is the direction of this torque?

 Cheater
To loosen a pipe fitting, a plumber slips a piece of scrap pipe (a “cheater”) over
his wrench handle. He stands on the end of the cheater, applying his 900-N
weight at a point 0.80 m from the center of the fitting. The wrench handle and
cheater make an angle of 19° with the horizontal. Find the magnitude and
direction of the torque he applies about the center of the fitting.

𝜏 = 0.80m 900N sin 109!

= 680 N ⋅ m

Torque direction •
Newton’s 2nd law for rotation

𝜏⃗!"# = 𝐼 𝛼⃗
𝐼 is the moment of inertia (or the rotational mass)
𝐼 = ∑𝑚! 𝑟!" for discrete particles (point particles)
𝐼 = ∫ 𝑟 " 𝑑𝑚 for continuous mass distribution (extended objects)
 Newton’s 2nd law for rotation
A 16-kg block is attached to a cord that is wrapped
around the rim of a flywheel of diameter 0.40 m and
hangs vertically. The rotational inertia of the flywheel is
0.50 kg·m2. When the block is released from rest and
the cord unwinds, what is the acceleration of the block?

𝑎 = 5.5 m/s " downward

Rotational Kinetic Energy

1 $
𝐾!"# = 𝐼𝜔
2
 Linear Angular
𝑣⃗ 𝜔
𝑎⃗ 𝛼⃗
𝐹⃗ 𝜏⃗
𝑚 𝐼
∑𝐹⃗ = 𝑚𝑎⃗ ∑𝜏⃗ = 𝐼 𝛼⃗
𝑑 𝑝⃗ 𝑑𝐿
𝐹⃗#$% = 𝜏⃗#$% =
𝑑𝑡 𝑑𝑡
1 1 "
𝐾%&'#( = 𝑚𝑣 " 𝐾&!% = 𝐼𝜔
2 2
𝑝⃗ = 𝑚𝑣⃗ 𝐿 = 𝐼𝜔
𝑝⃗) = 𝑝⃗* 𝐿) = 𝐿*
Yo-yo
 Linear Angular
1 1 &
𝐾!"#$% = 𝑚𝑣 & 𝐾"'! = 𝐼𝜔
2 2
𝑊 = ∫ 𝐹𝑑𝑥 𝑊 = ∫ 𝜏𝑑𝜃
1 1 1 & 1 &
𝑊$(! = 𝑚𝑣) − 𝑚𝑣*&
&
𝑊$(! = 𝐼𝜔) − 𝐼𝜔*
2 2 2 2
Power from Torque

1 "
Δ𝜃 = 𝜔+ 𝑡 + 𝛼𝑡 = 160 rad
2

W = 𝜏 Δ𝜃 = 1600 J

𝑊
𝑃',$ = = 200 W
𝑡
Equilibrium

• First condition (translational)

∑𝐹⃗ = 0
• Second condition (rotational)

∑𝜏⃗ = 0
 Mobile
A mobile is constructed of light rods, light strings,
and beach souvenirs as shown in the figure.
If m4 = 12.0 g, find the values for of m1, m2, and m3 if
the mobile is to be in equilibrium.

m1 = 9.0 g

m2 = 52.5 g

m3 = 49.0 g
 Monkey
A 3.00-m-long, 240-N, uniform rod at the zoo is held in a horizontal position by two ropes
at its ends as shown below. The left rope makes an angle of 150° with the rod and the right
rope makes an angle 𝜃 with the horizontal. A 90-N monkey hangs motionless 0.50 m from
the right end of the rod as he carefully studies you. Calculate the tensions in the two ropes
and the angle 𝜃. Hint: Draw a free-body diagram of the rod first.

𝑇+ = 270 N
𝜃 = 39.8,
𝑇- = 304 N
Angular Momentum

𝐿 = 𝐼𝜔
Angular Momentum

𝐿 = 𝐼𝜔
What can change angular momentum?

𝑑𝐿
∑𝜏⃗ =
𝑑𝑡
A nonzero net torque changes angular momentum.
Angular Momentum Conservation
A nonzero net torque changes angular momentum.
If the net torque is zero what happens to angular momentum?

𝐼! 𝜔! = 𝐼" 𝜔"
 Satellite
When a satellite is orbiting the earth, it is 𝑟- away when it is closest and
it moves at speed 𝑣- . When it is farthest it is located at 𝑟. . What is its
speed then?

𝑟/ 𝑣/
𝑣. =
𝑟.
 Scales
A uniform beam, of length L and mass m = 1.8 kg, is at rest on two scales. A uniform
block, with mass M = 2.7 kg, is at rest on the beam, with its center a distance L/4 from
the beam’s left end. What do the scales read?

𝑆"012! = 15 N
𝑆3(4! = 29 N
 Static Equilibrium
The figure shows a safe (mass M = 430 kg) hanging by a rope (negligible mass)
from a boom (a = 1.9 m and b = 2.5 m) that consists of a uniform hinged beam
(m = 85 kg) and horizontal cable (negligible mass).
(a) What is the tension Tc in the cable?
(b) Find the magnitude F of the
net force on the beam from
the hinge.

𝑇# = 6093 N

𝐹 = 7900 N
An Unusual Baton
Conservation of Angular Momentum
Moment of Inertia
Moment of Inertia
Parallel−Axis Theorem
It is easiest to rotate an object about its center of mass.

$
𝐼 = 𝐼%& + 𝑀𝑑
𝑀 is the mass of the rotating object
𝐷 is the distance of the axis of rotation from the center of mass
 Unwinding Cable I
We wrap a light, non-stretching cable around a solid cylinder of mass 50 kg
and diameter 0.120 m, which rotates in frictionless bearings about a
stationary horizontal axis . We pull the free end of the cable with a constant
9.0-N force for a distance of 2.0 m; it turns the cylinder as it unwinds without
slipping. The cylinder is initially at rest. Find its final angular speed and the
final speed of the cable.

𝜔 = 20 rad/s

𝑣 = 1.2 m/s
 Unwinding Cable II
We wrap a light, non-stretching cable around a solid cylinder with mass 𝑀
and radius 𝑅. The cylinder rotates with negligible friction about a stationary
horizontal axis. We tie the free end of the cable to a block of mass 𝑚 and
release the block from rest at a distance ℎ above the floor. As the block falls,
the cable unwinds without stretching or slipping. Find expressions for the
speed of the falling block and the angular speed of the cylinder as the block
strikes the floor.

2𝑔ℎ
𝑣=
1 + 𝑀/2𝑚
 Rotating Rod
A uniform rod of length 𝐿 and mass 𝑀 is attached at one end to a frictionless
pivot and is free to rotate about the pivot in the vertical plane. The rod is
released from rest in the horizontal position. What are the initial angular
acceleration of the rod and the initial translational acceleration of its right end?

𝐿
∑𝜏 = 𝑀𝑔
2
3𝑔
𝛼=
2𝐿
3𝑔
𝑎5 =
2
 Cross product
A metal bar is in the xy-plane with one end of the bar at the origin.
A force 𝐹⃗ = 7.00 N T̂ + −3.00 N Ŵ is applied to the bar at the point
𝑥 = 3.00 m, 𝑦 = 4.00 m. What are the magnitude and direction of the
torque with respect to the origin produced by 𝐹?⃗

37.0 N-m, –z direction