Physics 106: Mechanics

Lecture 05

Wenda Cao
NJIT Physics Department
 Angular Momentum
 Vectors
 Cross Product
 Torque using vectors
 Angular Momentum

February 18, 2011

 Vector Basics
 We will be using vectors a lot in this Ways of writing vector notation
course. F  ma
 
 Remember that vectors have both F  ma
magnitude and direction e.g. a, q F  ma
 You should know how to find the
components of a vector from its
magnitude and direction y
a x  a cos q 
a
a y  a sin q ay
q
 You should know how to find a vector’s ax x
magnitude and direction from its
components a  ax2  a y2
q  tan 1 a y / ax
February 18, 2011
 Projection of a Vector in Three
Dimensions
 Any vector in three dimensions
can be projected onto the x-y
plane. z
 The vector projection then

makes an angle f from the x a
axis.
q
 Now project the vector onto
the z axis, along the direction f
of the earlier projection. y

 The original vector a makes an

angle q from the z axis. x

February 18, 2011

 Vector Basics
 You should know how to generalize the
case of a 2-d vector to three dimensions,
e.g. 1 magnitude and 2 directions a, q , f
z
 Conversion to x, y, z components
a x  a sin q cos f 
a
a y  a sin q sin f
a z  a cos q q
 Conversion from x, y, z components
f y
a  a a a
2
x
2
y
2
z

q  cos 1 az / a
x
f  tan 1 a y / a x
 Unit vector notation:

a  axiˆ  a y ˆj  az kˆ
February 18, 2011
 A Note About Right-Hand
Coordinate Systems
 A three-dimensional
coordinate system MUST obey z

the right-hand rule.

 Curl the fingers of your RIGHT

HAND so they go from x to y. y
Your thumb will point in the z
direction. x

February 18, 2011

 Vector Math
 Vector Inverse
 
 Just switch direction A A
 
A B
 Vector Addition 
 
 Use head-tail method, or A B A
parallelogram method 
  B
A B
 Vector Subtraction 
A
 Use inverse, then add
   Vector Math by Components
 B A B
B  
 Vector Multiplication B   A   Axiˆ  Ay ˆj  Az kˆ
Three kinds!  
A  B  ( Ax  Bx )iˆ  ( Ay  By ) ˆj  ( Az  Bz )kˆ


 Multiplying a vector by a scalar  

 Scalar, or dot product A  B  ( Ax  Bx )iˆ  ( Ay  By ) ˆj  ( Az  Bz )kˆ
 
 Vector, or cross product B  sA  sAxiˆ  sAy ˆj  sAz kˆ
February 18, 2011
 Scalar Product of Two Vectors
 The scalar product of
two vectors is written
as A  B
 It is also called the dot
product
 A  B  A B cos q
 q is the angle
between A and B
 Applied to work, this
means W  F r cosq  F  r
February 18, 2011
 Dot Product
 The dot product says
something about how parallel
two vectors are.
 The dot product (scalar
product) of two vectors can be
thought of as the projection of
one onto the direction of the 
other. B
 
A  B  AB cos q
 ( A cos q ) B
A  iˆ  A cos q  Ax q

A
 Components A( B cos q )
 
A  B  Ax Bx  Ay By  Az Bz

February 18, 2011

Projection of a Vector: Dot Product
 The dot product says
something about how parallel
two vectors are.
 The dot product (scalar
product) of two vectors can be
thought of as the projection of
one onto the direction of the 
other. B Projection is zero
 
A  B  AB cos q

A  iˆ  A cos q  Ax
 Components p/2
  
A  B  Ax Bx  Ay By  Az Bz A

February 18, 2011

 Derivation
 
 How do we show that  B  Ax Bx  Ay By  Az Bz ?
A

 Start with A  A iˆ  A ˆj  A kˆ
x y z

B  Bxiˆ  By ˆj  Bz kˆ
 
 Then A  B  ( A iˆ  A ˆj  A kˆ)  ( B iˆ  B ˆj  B kˆ)
x y z x y z

 Axiˆ  ( Bxiˆ  By ˆj  Bz kˆ)  Ay ˆj  ( Bxiˆ  By ˆj  Bz kˆ)  Az kˆ  ( Bxiˆ  By ˆj  Bz kˆ)

 But iˆ  ˆj  0; iˆ  kˆ  0; ˆj  kˆ  0
iˆ  iˆ  1; ˆj  ˆj  1; kˆ  kˆ  1
 
 So A  B  Axiˆ  Bxiˆ  Ay ˆj  By ˆj  Az kˆ  Bz kˆ
 Ax Bx  Ay By  Az Bz

February 18, 2011

 Cross Product
    
C  A B B sin q B

 The cross product of two vectors says 

something about how perpendicular they are. q A
 Magnitude:   

C  A  B  AB sin q A sin q
y
 q is smaller angle between the vectors
 Cross product of any parallel vectors = zero j i
 Cross product is maximum for perpendicular x
vectors k
z
 Cross products of Cartesian unit vectors:
i
iˆ  ˆj  kˆ; iˆ  kˆ   ˆj; ˆj  kˆ  iˆ
iˆ  iˆ  0; ˆj  ˆj  0; kˆ  kˆ  0 j k
February 18, 2011
 Cross Product
 Direction: C perpendicular to
both A and B (right-hand rule)
 Place A and B tail to tail
 Right hand, not left hand
 Four fingers are pointed along
the first vector A
 “sweep” from first vector A    
into second vector B through A B  B  A ?
the smaller angle between
them
   
Your outstretched thumb

points the direction of C
A B  - B  A
 First practice
   
A B  B  A ?
February 18, 2011
 More about Cross Product
 The quantity ABsinq is the area of the
parallelogram formed by A and B
 The direction of C is perpendicular to
the plane formed by A and B
 Cross product is not commutative
   
A B  - B  A
      
 The distributive law A (B  C)  A B  A C
 
 The derivative of cross product
obeys the chain rule dt

A B 
dt

d   dA   dB
 B  A
dt
 Calculate cross product
 
A  B  ( Ay Bz  Az By )iˆ  ( Az Bx  Ax Bz ) ˆj  ( Ax By  Ay Bx )kˆ
February 18, 2011
 Derivation
 
 How do we show that A  B  ( Ay Bz  Az By )iˆ  ( Az Bx  Ax Bz ) ˆj  ( Ax By  Ay Bx )kˆ ?
 Start with 
A  Axiˆ  Ay ˆj  Az kˆ

B  Bxiˆ  By ˆj  Bz kˆ
 
 Then A  B  ( A iˆ  A ˆj  A kˆ)  ( B iˆ  B ˆj  B kˆ)
x y z x y z

 Axiˆ  ( Bxiˆ  By ˆj  Bz kˆ)  Ay ˆj  ( Bxiˆ  By ˆj  Bz kˆ)  Az kˆ  ( Bxiˆ  By ˆj  Bz kˆ)

 But iˆ  ˆj  kˆ; iˆ  kˆ   ˆj; ˆj  kˆ  iˆ

iˆ  iˆ  0; ˆj  ˆj  0; kˆ  kˆ  0
 
 So A  B  Axiˆ  By ˆj  Axiˆ  Bz kˆ  Ay ˆj  Bxiˆ  Ay ˆj  Bz kˆ
 Az kˆ  Bxiˆ  Az kˆ  By ˆj

February 18, 2011

 Torque as a Cross Product
    The torque is the cross product of a force
  r F vector with the position vector to its point
of application
  rF sin q  r F  r F
 The torque vector is perpendicular to the
plane formed by the position vector and
the force vector (e.g., imagine drawing
them tail-to-tail)
 Right Hand Rule: curl fingers from r to F,
thumb points along torque.
Superposition:
   
 net   i   ri  Fi (vector sum)
all i all i
 Can have multiple forces applied at multiple
points.
 Direction of net is angular acceleration axis
February 18, 2011
 Calculating Cross Products
   
Find: A  B Where: A  2iˆ  3 ˆj B  iˆ  2 ˆj
 
Solution: A  B  (2iˆ  3 ˆj )  (iˆ  2 ˆj ) i
 2iˆ  (iˆ)  2iˆ  2 ˆj  3 ˆj  (iˆ)  3 ˆj  2 ˆj
j k
 0  4iˆ  ˆj  3 ˆj  iˆ  0  4kˆ  3kˆ  7kˆ
Calculate torque given a force and its location
 
F  (2iˆ  3 ˆj ) N r  (4iˆ  5 ˆj )m
 
Solution:   r  F  (4iˆ  5 ˆj )  (2iˆ  3 ˆj )
 4iˆ  2iˆ  4iˆ  3 ˆj  5 ˆj  2iˆ  5 ˆj  3 ˆj
 0  4iˆ  3 ˆj  5 ˆj  2iˆ  0  12kˆ  10kˆ  2kˆ (Nm)
February 18, 2011
Net torque example: multiple forces at a single point z
F2
3 forces applied at point r :  
 F1
r  r cos(q) î  0 ĵ  r sin(q) k̂ 
F3
   r
F1  2 î F2  2 k̂ F3  2 ĵ r3 q  30o q y

Find the net torque about the origin:

    x
net  r  Fnet  r  ( F1  F2  F3 )
set rx  rsin( q)  3sin(30 o )  1.5
 (rx î  rzk̂)  (2 î  2 ĵ  2k̂) rz  rcos(q)  3cos(30o )  2.6

 2rx î  î  2rx î  ĵ  2rx î  k̂  2rzk̂  î  2rzk̂  ĵ  2rzk̂  k̂

net  0  2rxk̂  2rx () ĵ  2rz ĵ  2rz ()î  0
i
oblique rotation axis
 net   3i  2.2 ĵ  5.2k̂ through origin
j k
Here all forces were applied at the same point.
For forces applied at different points, first calculate
the individual torques, then add them as vectors,
i.e., use:    
net   i   ri  Fi (vector sum)
February 18, 2011
all i all i
 Angular Momentum
 Same basic techniques that were used in linear
motion can be applied to rotational motion.
 F becomes 
 m becomes I
 a becomes 
 v becomes ω
 x becomes θ
 Linear momentum defined as p  mv
 What if mass of center of object is not moving,
but it is rotating?
 Angular momentum L  I
February 18, 2011
 Angular Momentum I
 Angular momentum of a rotating rigid object
  
L  I 
L


 L has the same direction as 

 L is positive when object rotates in CCW
 L is negative when object rotates in CW
 Angular momentum SI unit: kgm2/s
 Calculate L of a 10 kg disc when  = 320 rad/s, R = 9 cm = 0.09 m
 L = I and I = MR2/2 for disc
 L = 1/2MR2 = ½(10)(0.09)2(320) = 12.96 kgm2/s
February 18, 2011
 Angular Momentum II
 Angular momentum of a particle
L  I  mr 2  mv r  mvr sin f  rp sin f

 Angular momentum of a particle

    
L  r  p  m( r  v )

 r is the particle’s instantaneous position vector

 p is its instantaneous linear momentum
 Only tangential momentum component contribute
 r and p tail to tail form a plane, L is perpendicular to
this plane
February 18, 2011
 Angular Momentum of a Particle in
Uniform Circular Motion
Example: A particle moves in the xy plane in a circular path of
radius r. Find the magnitude and direction of its angular
momentum relative to an axis through O when its velocity is v.
 The angular momentum vector
points out of the diagram
 The magnitude is
L = rp sinq = mvr sin (90o) = mvr
 A particle in uniform circular motion O
has a constant angular momentum
about an axis through the center of
its path
February 18, 2011
 Angular momentum III
 Angular momentum of a system of particles
     
Lnet  L 1  L 2  ...  L n  
all i
Li  
all i
ri  p i

 angular momenta add as vectors

 be careful of sign of each angular momentum

for this case:

      
Lnet  L1  L2  r1  p1  r2  p2

| Lnet |   r1 p1 - r2 p2

February 18, 2011

 Example: calculating angular momentum for particles

Two objects are moving as shown in the figure . What

is their total angular momentum about point O?
      
Lnet  L1  L2  r1  p1  r2  p2 m2

Lnet  r1mv1 sin q1  r2 mv2 sin q 2

 r1mv1  r2 mv2
 2.8  3.1 3.6  1.5  6.5  2.2
 31.25  21.45  9.8 kgm2 / s
m1

February 18, 2011

Angular Momentum and Torque
 Net torque acting on an object is equal to the time
rate of change of the object’s angular momentum
   0 I  I0
   I  I  I( )
t t t
 Angular momentum is defined as
change in angular momentum L
  
time interval t
 Analog in impulse
p
F
L t
 
t February 18, 2011
 SUMMARY
Translation Rotation
   
Force F Torque   r F
Linear   Angular   
Momentum p  mv l  r p
Momentum
Kinetic 1 Kinetic
Energy K 2
mv 2
Energy K
1 2

2

Systems and Rigid Bodies

  
Linear P   pi  Mvcm Angular   
L  L i  i i
 
Momentum Momentum
 for rigid bodies about common 
fixed axis
Second  dP Second  dL sys
Fnet  net 
Law dt Law dt

Momentum conservation - for closed, isolated systems

 
Psys  constant L sys  constant
Apply separately to x, y, z axes February 18, 2011