ROTATIONAL DYNAMICS

PPT-3
By- Miss Rutticka Kedare (New India School Jr. College, Kothrud)
 Moment of Inertia: (resistance of body to undergo rotational motion)

It is defined as a body’s tendency to resist angular acceleration (thus rotational motion)

There are 3 basic types of M.I.
1. Mass Moment of Inertia Measure of distribution of mass of object relative to given
axis
2. Area Moment of Inertia* Reflects how body’s points are distributed relative to given axis
3. Polar Moment of Inertia* Shaft or Beam’s resistance to being distorted by torsion, as a
function of its shape.
*Extra information not in syllabus

Mass Moment of Inertia :

• It is a measure of distribution of the mass of an object relative to a given axis.
• Denoted by I,
• for single particle I O = M R 2 , where O is the axis of rotation & R is the distance from
axis
• Unit = kg-m 2 Dimension: [ L 2 M 1 ]
• Linear motion--- applied force depends on mass
• Rotational motion --- applied force depends on mass and distance from axis.

• We are studying Mass Moment of Inertia which is given by I O = M R 2 , where O is the

axis of rotation & R is the distance from axis.
Few Properties of M.I.
• M.I. considers the distance wise distribution of mass around the axis of rotation.
• Like other analogies, M.I. in rotational motion is analogous to mass in linear motion.
• Both of these, express a body’s tendency to resist motion (angular or linear)

M.I. depends upon following factors: (2mark question with diagram and formula)
i. Mass, shape and size of body.
ii. Distribution of mass in body about an axis of rotation
iii. Position and orientation of axis of rotation.
 PHYSICAL SIGNIFICANCE OF
M.I.
• To produce linear motion an unbalanced force is applied. Mass of body opposes this
motion thus “mass” provides inertia. Given by, F = ma
• To produce rotational motion in a body an unbalanced torque is applied. In this
case
inertia of the body is called rotational inertia or moment of inertia. (given by I)
• The relation between moment of Inertia (I), torque (τ) and angular acceleration (α) is
given by, τ=I α
• We conclude that, moment of inertia plays same role in rotational motion as the mass
of the body does in linear motion.
 Analogies between Linear and Rotational Motion:
Linear Rotational
Linear displacement (x or s) Angular displacement (θ)
Linear velocity (v) Angular velocity (ω)
Linear acceleration (a) Angular acceleration (α)
Force (F) Torque (τ)
Mass (m) Moment of Inertia (I)
Translational K.E. = Mv2 / 2 Rotational K . E . = Iω 2

To find the analogy for K . E . in translational (linear) and Rotational motion we consider
Derivation for Rotational Kinetic Energy:
• Rotational K . E . = sum of translational K . E . of all particles present in body.
Derivation for Rotational Kinetic Energy
Consider a body of random shape and having N particles, of
masses m 1 , m2 … . . m N and distance r 1 , r2 … . . r N from axis of
rotation. Let ω be its angular velocity.

It is a rigid body (distance between any two points inside body is

constant) and axis of rotation is perpendicular to paper.

• When the body rotates around its axis, each of these particles perform U C M around this axis
with same angular speed ω.
• But, as r (distance from axis) is different for each particle, they will have different
translational velocity (v = r ω ). Let these velocities be v 1 , v2 … . . v N = r N ω.
• Let us consider translational K . E . for first particle,
K . E . 1 = (m1 v12 )/2 but v 1 = r1 ω therefore, K . E . 1 = (m1 r12
ω2 )/2 Similarly for all other particles we shall have translational K . E . to be
K . E . 2 = (m2 r22 ω2 )/2 ,
K . E . 3 = (m3 r32 ω2 )/2 ,
So on … … …
K . E . N = (m N r N
ω
 We know,
Rotational K . E . = sum of translational K . E . of all particles present in body.
Therefore,
+ … … . + (m N r N ω
Rotational K . E . = (m1 r1 ω )/2 + (m2 r2 ω )/2 )/2
2 2 2 2
2 2
= (1/2) (m1 r12 + m2 r22 + … … . + m N r N )
(ω ) 2 2

But m × r2 = I (moment of Inertia)

Rotational K . E . = (1/2) ( I 1 + I 2 + … … + I N ) (ω2)
Let I 1 + I 2 + … … + I N = m 1 r12 + m2 r22 + … … . + m N r N =
I 2

Rotational K . E . = (1/2) (I) (ω2 ) = I ω2 /2

Thus, in going from translation K . E to

Rotational K . E .
• m is replaced by I and rotational K .E
translation K . E • v by ω

Therefore, I can be defined as rotational inertia or moment of inertia of the object about the
given axis of rotation.
This I = ∑m i ri 2 of an object depends upon,

• Individual masses (m1 , m2 … . . m N ) and

• Distribution of these masses about the given axis of rotation (r1 , r2 … . . r N )

If we have a different axis, this I will again depend upon on mass distribution around that
axis and if the object is not symmetric it will be different for each axis.

i.e. if you have a non-symmetric object like this,

you will calculate I separately for axis through
point
O and axis through point C , as both axes shall
have
different distribution of masses
• Though by far we considered the object to consist
of finite number of particles
• In reality, We usually have a homogenous rigid
object.
• So instead of summation, we use integration.
2
Further we will study, M.I. for different objects, like,
1. M.I. of Ring
Study in detail
2. M.I. of Disc
3. M.I. of Sphere
4. M.I. of Rod
Formulas Given
5. M.I. of Cylinder Directly for each with
its cases
6. M.I. of Right Circular Cone
7. M.I. of Parallelepiped
I = ∫ r2 dm
If we do not know the mass distribution, theoretically it is
not possible to solve the above integral. But we can still
find M.I. experimentally.
Let us consider the application of M.I.
1) Moment of Inertia of a uniform ring:
• The mass of this ring is uniformly distributed on its
circumference.
• It is a two-dimensional object with negligible
thickness.
• If this ring is rotating about its own axis, its entire mass
M is practically at a distance equal to its radius R from
axis.
• Therefore, expression for its M.I. is
I=M R 2 x ( sq. of distancFring
(mass) e ofrrom axis)
2) Moment of Inertia of a Uniform Disc: Surface Density (σ):
Disc Description : • Mass per unit area.
• Two dimensional circular object • The ratio σ = mass/ area = m/A is called
• Negligible thickness Surface density
• Uniform disc – Mass per unit area (σ) • For uniform disc of mass M and radius
and composition same throughout. R,
• Disc is rotating about its own axis. σ = M/ πR 2
This axis is passing through the center
of disc.
• Consider the uniform disc given in figure, it has mass M and radius R.
• As it is uniform, we can consider it to be consisted of number of
concentric rings whose radii is increasing from zero to R.
• One of such concentric ring may have mass dm (shaded portion
in
figure) and width dr, very small compared to entire radius of
ring
•Therefore, dr is of
Practically, thisArea considered to be less i.e.
ring = 2πr.dr than least
σ =count
dm /of the
instrument that measures it.
i.e. 2πr.dr dm = σ 2πr . dr
• As this discussion is about the concentric ring, this entire mass dm is at
a distance r from the axis of rotation. Thus, its M.I. will be
I r = dm (r2)
• So, the M.I. of disc will be integration of I r from 0 to R.
 Radius of Gyration:

• As we said before, theoretically you can find M.I. only if you know the mass distribution in
object. But experimentally, we can find M.I. for all objects.
• Also, this M.I. depends upon mass of the object and how it is distributed around the
axis of rotation.
• So if we only want to know the mass distribution around the axis,
Let us write M.I. as I = MK 2 , where M is mass of object and this mass is effectively at a
distance K , from the axis of rotation.
• This K , is called as Radius of Gyration.
• It means that the mass of object is effectively at a distance K from the axis of rotation. If
K is
radius of gyration, I = MK 2 , is the M.I.
• Radius of Gyration, can be defined as the distance from the axis of rotation to a point where
the total mass of the body is supposed to be concentrated. So if you find M.I. at this point it
will be equal to the M.I. that you would get in regular way. (Simple trick !!)
• Unit of K = metre in S.I. and centimetre in C G S and Dimension = [L 1 ]
• K depends upon shape and size of body.
• (This K should not be confused with Centre of mass; because 1)K changes with axis 2)
K is present only when body is rotating while Centre of mass exists for both stationary
and rotating body 3) I about Centre of mass is zero)

Physical Significance of K:
• For a given object mass (M) always remains constant, what changes is K as per the choice
of axis of rotation.
• Thus, K depends upon shape and size of body. It measures the distribution of mass about
the axis of rotation.
• For small value of K , we say that mass is distributed close to the axis of rotation, so M.I.
is
small.
• For larger value of K , mass distribution is at large distance from axis of rotation, so M.I.
is large.
Explanation for
how K changes with shape
• While solving for M.I. , we generally take axis of rotation at axis of symmetry . A line that divides any
object in half
• But in some cases this axis may not be at axis of symmetry.
• It can be parallel or perpendicular to the symmetric axis.
For such cases, we need theorem of parallel axis and theorem of perpendicular axis.

1) Theorem of Parallel axes:

In order to apply this theorem to any object, we need two axes parallel
to each other with one of them passing through center of mass of
object.
Description : Figure shows object of mass(M),
• M O P is random axis passing through O and A C B is axis
passing through Centre of mass C .
• M O P is at a distance of h from A C B and they are parallel to each
other.
Let us consider small point mass dm at point D.
Construction : We draw perpendicular D N on extended line of O C
upto
N. Join D point with C and O.
• Considerations: M.I. at point O w.r.to D is I O = ∫ (DO) 2 dm and at
point C w.r.to D is I C = ∫ (DC) 2 dm

Let us consider I O (our axis of interest),

I O = ∫ (DO) 2 dm = ∫ ( [DN] 2 + [NO] 2 )dm … . . By Pythagoras

Theorem
But, [NO] 2 = [NC + CO] 2 = [NC] 2 + [CO] 2 +[2.NC.CO]
Therefore, I O = ∫ ( [DN] 2 + [NC] 2 + [CO] 2 +[2.NC.CO] ) dm

But [DN] 2 + [NC] 2 = [DC] 2

Therefore, I O = ∫ ( [DC] 2 + [CO] 2 +[2.NC.CO] ) dm

Separating integration to each term and substituting, C O = h, and

values of I C and ∫dm = M ,

I O = ∫ [DC] 2 dm + h 2 ∫ dm + 2h ∫ N C dm

I O = I C + M h 2 + 2h ∫ N C dm
 So we have, I O = I C + M h 2 + 2h ∫ N C dm
This N C is the distance of point from C .M ., any mass distribution is symmetric about C .M.,
thus as per its definition ∫ N C dm=0
So we get, I O = I C + M h2 this is mathematical form of theorem of parallel
axis.
Definition: The theorem of parallel axis states that, the moment of inertia
(IO) of an object about any given axis, is the sum of
moment of inertia (I C ) about an axis parallel to the given axis, and passing
through the Centre of mass and
 the product of the mass (M) of the object and the square of the distance
between the two axes (h2)
[if DN falls on O C , i.e. point N coincides with C. In that case , D C will be the
distance of point from C.M. , ∫ D C dm=0 i.e. therefore, I C =0 hence,
I O = M h 2 . So if the point D is taken such that DN falls on O C , it is as good
as calculating M.I. for only one axis, which is axis of rotation]
2) Theorem of Perpendicular Axis:
Z
• This theorem relates M.I. of laminar object about three
mutually perpendicular and concurrent axes, two of them
in the plane of object and third perpendicular to the object. Y
• Laminar objects: any two dimensional objects like leaf, ring,
X
disc, etc.
• By far, we considered that the object can rotate only along one
direction i.e. z axis, but in this theorem we are considering the
possibility that the object can rotate about any axes from x, y
and z
(Consider a rupee coin as a disc and try rotating it about x, y and z axes)
Image Description :
Consider a mass element dm located at point P.
P N = x and P M = y are perpendiculars drawn from P on X and Y
axes respectively.
The distance of point P from x-axis is ‘y’, from y-axis is ‘x’ and
from z-axis is √(x2 + y2 )
We know, I = (mass) x (sq. of distance from axis)
therefore,
I x = ∫ (y2) dm I y = ∫(x2)dm I z = ∫(x2 + y2 )dm
I x , I y ,and I z are respective moment of inertias of body about
x, y and z axes.
If we consider the expression for I z , we get
I z = ∫(x2 + y2 )dm
= ∫(x2 ) dm + ∫(y2 )dm
Iz = I y + Ix this is
theorem of perpendicular axis.
mathem
atical
Definition : It states that, the M.I. (Iform of
z) of laminar object about an axis (z) perpendicular to
its plane is sum of moment of inertias about two mutually perpendicular axes (x and y) in
its plane, all the three axes being concurrent.
 Angular Momentum
• Also known as moment of linear momentum ( i.e. multiply linear momentum (p=mv) with
distance)
• Analogous to linear momentum.

Definition : If 𝑝̅ is the instantaneous linear momentum of a particle undertaking a circular

motion, its angular momentum at that instance is given by,
𝐿̅ = 𝑟̅ × 𝑝̅ , where 𝑟̅ is the position vector from the axis of rotation.

In magnitude,
It is the product of linear momentum and its perpendicular distance from the axis of
rotation.
i.e L = (p)(r sinθ ), where θ is the small angle between the directions of 𝑝̅
and 𝑟̅

Unit = (kg-m 2)/s in S.I. A nd (g-cm 2)/s in

C G S . Dimension= [L 2 M 1 T -1]
Expression for Angular Momentum in terms of M.I.
Description : Consider a body of random shape and having N
particles, of masses m 1 , m2 … . . m N and distance r 1 , r2 … . . r N from
axis of rotation. Let ω be its constant angular velocity.
• When the body rotates around its axis, each of these
particles perform U C M around this axis with same angular
speed ω.
• But, as r (distance from axis) is different for each particle,
they will have different translational velocity (v = r ω ). Let
these velocities be v 1 , v2 … . . v N = r N ω.
• The directions for velocities v 1 , v2 … . . v N are along the tangents to their
respective tracks.
• Therefore, the linear momentum for first particle will be
p1 = m 1 v 1 and for further particles, p2 = m2 v2 , p3 = m3 v3
and so on.
Direction of p1 is along that of v1 and so on for others.

Therefore, the angular momentum is given as L 1 = p1 r1 = m1 r1 2 ω

L 2 = p2 r 2 = m 2 r 2 2 ω
L 3 = p3 r 3 = m 3 r 3 2 ω
So on, L N = p N r N = m N r N 2
• For a rigid body with fixed axis of rotation,
 All these angular momentum are directed along the axis of rotation, and
 Its direction is given by right hand thumb rule.

As all L have same directions, their magnitudes are directly added.

L = m 1 r 1 2 ω + m 2 r 2 2ω + … … + m N r N 2ω
= (m1 r1 2 + m 2 r2 2 + … … + m N r N 2 ) ω
Therefore, as I = m r 2
L = (I1 + I 2 +… ..+ I N ) ω
If we put I 1 + I 2 + … … + I N = I
L = I ω, where I is moment of Inertia about the axis of
rotation. We can see that above equation of
L=Iω is analogous to p=mv
moment of inertia I, replaces mass m as per its physical
significance.
 The two derivations that we do talk about expressing
Angular momentum
and Torque in terms of Moment of
Inertia
Why we do this?
In case of
In linear motion, • We knowMotion
Rotational ,
the angular position of particle on circle
• we first find position of from angle (θ),
particle (x), then • To know efforts needed to carry out this circular
• the force (f) which caused motion of this motion we found out torque,τ (analogous to force)
particle. • Once we know torque τ, we found out its relation
• Once we know the force, we are with angular momentum, L (analogue of linear
interested in knowing how this force momentum)
relates to mass and velocity together, i.e.
momentum (p)
The most important property of that Similarly, the most important property of object
particle (or object) which can affect which can affect circular motion, τ and L is
both f as well as p, is mass (M). Moment of Inertia (I).
Therefore, we are finding τ and L in terms of
M.I.
Expression for Torque in terms of M.I.
Description: Consider a rigid body of random shape and
having N particles, of masses m 1 , m2 … . . m N and distance r 1 ,
r2 … . . r N from axis of rotation.
This body is rotating with constant angular acceleration (α)

(By far we considered ω and now we are considering α , this is because both ω
and α are along same line for anticlockwise rotation of body.
Hence we can talk about ω or α as per requirement.
Another reason for considering α is that in present scenario
we are interested
in force analogue torque.)

As the object rotates, each of these particles

perform circular motion (not UCM..!) with
same
Now,
The forceacceleration
angular experiencedbutby different
first particle is acceleration.
linear f1 = m 1 a , f2 = m 2 a 2 so fN = mN aN
Therefore we have, a 1 = r1 α, a 2 = r2 α, so on a =r
= m1 r1 α N on N = mN rN α
α = m 2 r2 α
As these forces are tangential, their If we restrict motion to a single plane, direction of
respective perpendicular distances from all these torques are the same, and along same axis
axis of rotation are, r 1 , r2 … . . r N So, their magnitudes can be added,
τ = τ1 + τ2 +… ..+ τ N
Thus, the torque experienced by first
=(m1 r1 2 + m 2 r2 2 +… ..+ m N r N 2 )α
particle is given as
= (I1 + I 2 +… ..+ I N ) α
τ1 = f1 r1 = (m1 r1 α)(r1 ) = m1 r1 2 α ,
τ2 = m 2 r 2 2 α ,
where, I denotes moment of inertia for
So on each particle.
τN = m N r N 2 α If we put I 1 + I 2 + … … + I N = I

In general, we get
τ=I α
Comparing this to f = ma, we know that torque (τ )
is analogous to force (f)
Conservation of Angular Momentum:
Just like linear momentum of an isolated
system remains conserved in absence of an
external unbalanced force. Similarly, we can
show that Angular momentum also
remains conserved.

We know, 𝐿̅ = 𝑟̅ × 𝑝̅
where 𝑟̅ is the position vector from the axis of
rotation and 𝑝̅ is linear momentum.
Differentiating w. r. to time,

Therefore, we conclude that,

• “ angular momentum remains conserved in
absence of an external torque”.
• This is the statement for principle of conservation
of angular momentum,
• analogous to conservation of linear momentum.
Examples of Conservation of Angular Momentum:
• In all these applications, the product L = is constant (once the player acquire certain
speed).
Iω
• Thus, if moment of inertia is increased,
the
I angular speed ω decreases and hence
the frequency of revolution n decreases.
• Vice versa, if inertia I is decreased, angular speed ω and frequency n
increases.

1) Ballet Dancer:
• In this, the dancers have to undertake rounds of smaller and larger radii.

• Dancers come together while taking smaller radius,

in this case the M.I. of system becomes minimum and
the frequency increases, to make it thrilling.

• While outer rounds, the dancers outstretch their legs and arms, thus larger radii,
this increases M.I. thus reducing their angular speed and hence linear speed.
This helps prevent slipping.
2) Diving in a swimming pool (during competition):
• While on diving board, the divers stretch their body so as to increase the M.I.
• Immediately after leaving the board, they fold their bodies, which reduces M.I.
considerably. As a result, the frequency increases and they can complete more rounds
in air to make the show attractive.
• Again, while entering the water they stretch their body into a streamline shape, this
allows them a smooth entry into the water.
 ROL LING MOTION
• Throughout chapter we considered objects moving in circular motion but at one position
only, there was no linear motion involved in our discussions.
• In case of Rolling motion, Circular and Linear motion are taking place simultaneously.

• For deriving formula, we theoretically consider that Rolling Motion is result of

1) Circular motion of body as a whole, about its own symmetry axis and
2) Linear motion of body assuming it to be concentrated at its C . M . (i.e. C . M . is performing
linear motion)

Accordingly, the object now has two types of K .E ., rotational and linear, sum of which makes
the total energy. ( During motion P.E. is zero)

We go ahead to derive the equation for this total energy (E).

Let us consider an object of moment of
inertia I, rolling uniformly. Following
quantities can then be related.
v = linear speed of C . M . ;
R = Radius of body;
ω = angular speed of the body (v = R
ω) M= mass of body.
K = radius of gyration ; I = M K 2

• Static friction is essential in this

purely rolling motion as it prevents
sliding.
• In reality, we always have some
slipping involved with rolling
motion.

Since the dynamics involved with circular motion present in rolling motion are same
as studied before, here we focus on deriving the expression of velocity and
acceleration for Rolling Motion.
 As motion starts, Gravitational P.E. gets converted into
Rolling K . E .

m in mgh should be M
(printing mistake)

To find acceleration a, we make use of

kinematic equation 2as = v2 – u 2
Linear distance travelled along the plane is
s = h / sinθ

For pure sliding, a = g sinθ and v = √ (2gh), thus the otherwise term in denominator is purely
rolling.
Remarks:
1) If expression for M.I. is of the form n (MR 2 ), then the numerical factor
n gives value of K 2 /R2.
2) When a rod rolls, it is actually a cylinder that is rolling.
3) While Rolling, the ratio of
Translational K . E . : Rotational K . E . : Rolling K . E . =

In Rolling, 60% of energy is translation while 40% is rotational.