Physics 111: Mechanics

Lecture 10

Dale Gary
NJIT Physics Department
 Torque, Energy and Rolling
 Torque, moment of inertia
 Newton 2nd law in rotation
 Rotational Work
 Rotational Kinetic Energy
 Rotational Energy
Conservation
 Rolling Motion of a Rigid
Object

October 17, 2022

 Force vs. Torque
 Forces cause accelerations
 What cause angular accelerations ?
 A door is free to rotate about an axis through O
 There are three factors that determine the
effectiveness of the force in opening the door:
 The magnitude of the force
 The position of the application of the force
 The angle at which the force is applied

October 17, 2022

 Torque Definition
Torque, , is the tendency of a force to rotate
an object about some axis
 Let F be a force acting on an object, and let r
be a position vector from a rotational center to
the point of application of the force, with F
perpendicular to r. The magnitude of the
torque is given by

  rF
October 17, 2022
 Torque Units and Direction
 The SI units of torque are N.m
 Torque is a vector quantity
 Torque magnitude is given by

  rF sin   Fd
 Torque will have direction
 If the turning tendency of the force is counterclockwise,
the torque will be positive
 If the turning tendency is clockwise, the torque will be
negative
October 17, 2022
 Net Torque

 The force F will tend to
1
cause a counterclockwise
rotation about O

 The force F will tend to
2
cause a clockwise
rotation about O
   F d – F d
  1 1 2 2
 If , starts rotating  Rate of rotation of an
 If , rotation rate object does not change,
does not change unless the object is acted
on by a net torque
October 17, 2022
 General Definition of Torque
 The applied force is not always perpendicular to the
position vector
 The component of the force perpendicular to the
object will cause it to rotate
 When the force is parallel to the position vector, no
rotation occurs
 When the force is at some angle, the perpendicular
component causes the rotation

October 17, 2022

 General Definition of Torque
 Let F be a force acting on an object, and let r be
a position vector from a rotational center to the
point of application of the force. The magnitude
of the torque is given by

  rF sin 
 ° or °: 
torque are equal to zero
 ° or °:magnitude of torque attain to
the maximum
October 17, 2022
 Understand sinθ
 The component of the force
(F cos  ) has no tendency   rF sin   Fd
to produce a rotation
 The moment arm, d, is the
perpendicular distance from
the axis of rotation to a line
drawn along the direction of
the force
d = r sin

October 17, 2022

 The Swinging Door
 Three forces are applied to a door, as shown in
figure. Suppose a wedge is placed 1.5 m from
the hinges on the other side of the door. What
minimum force must the wedge exert so that
the force applied won’t open the door? Assume
F1 = 150 N, F2 = 300 N, F3 = 300 N, θ = 30°

F3 F2
θ
2.0m F1

October 17, 2022

 Newton’s Second Law for a
Rotating Object
 When a rigid object is subject to a net torque (≠0),
it undergoes an angular acceleration

  I
 The angular acceleration is directly proportional to
the net torque
 The angular acceleration is inversely proportional to
the moment of inertia of the object
 The relationship is analogous to
 F  ma
October 17, 2022
 Strategy to use the Newton 2nd Law
• Draw or sketch system. Adopt coordinates, indicate rotation axes, list
the known and unknown quantities, …
• Draw free body diagrams of key parts. Show forces at their points of
application. Find torques about a (common) axis

• May need to apply Second Law twice, once to each part

Note: can have
  Fnet = 0
 Translation: Fnet   Fi  ma but net ≠ 0
  
 Rotation: net    i  I
• Make sure there are enough (N) equations; there may be constraint
equations (extra conditions connecting unknowns)
• Simplify and solve the set of (simultaneous) equations.
• Find unknown quantities and check answers

October 17, 2022

 The Falling Object
 A solid, frictionless cylindrical reel of
mass M = 2.5 kg and radius R = 0.2 m
is used to draw water from a well. A
bucket of mass m = 1.2 kg is attached
to a cord that is wrapped around the
cylinder.
 (a) Find the tension T in the cord and
acceleration a of the object.
 (b) If the object starts from rest at the
top of the well and falls for 3.0 s before
hitting the water, how far does it fall ?

October 17, 2022

 Newton 2nd Law for Rotation
 Draw free body
diagrams of each object
 Only the cylinder is
rotating, so apply
 = I r

 The bucket is falling, but

a
not rotating, so apply
F = ma
 Remember that a = r
and solve the resulting mg
equations
October 17, 2022
• Cord wrapped around disk, hanging weight
• Cord does not slip or stretch  constraint
• Disk’s rotational inertia slows accelerations
• Let m = 1.2 kg, M = 2.5 kg, r =0.2 m
For mass m:

T F y  ma  mg  T r
y
mg T  m( g  a ) Unknowns: T, a
a support force
at axis “O” has
FBD for disk, with axis at “o”: zero torque
1
N  0   Tr  I I
2
Mr 2

Tr m( g  a )r
  1 2 Unknowns: a,  mg
T Mg I 2
Mr
from “no
So far: 2 Equations, 3 unknowns Need a constraint: a  r slipping”
Substitute and solve: assumption

2mgr 2m r 2  m  2mg mg

   1  2   ( 24 rad / s 2 )
Mr 2
Mr 2  M  Mr r (m  M / 2)

October 17, 2022

• Cord wrapped around disk, hanging weight
• Cord does not slip or stretch  constraint
• Disk’s rotational inertia slows accelerations
• Let m = 1.2 kg, M = 2.5 kg, r =0.2 m
For mass m:

T F y  ma  mg  T
y
r
mg T  m( g  a ) Unknowns: T, a
support force
at axis “O” has
mg
 ( 24 rad/s 2 ) a zero torque
r (m  M / 2)
mg
a ( 4.8 m/s 2 )
(m  M / 2)

T  m( g  a )  1.2(9.8  4.8)  6 N mg

1 1
x f  xi  vi t  at 2  0  (4.8 m/s2 )(3 s)2  21.6 m
2 2

October 17, 2022

 Rotational Kinetic Energy
 An object rotating about z axis with an angular
speed, ω, has rotational kinetic energy
 The total rotational kinetic energy of the rigid
object is the sum of the energies of all its
particles
1
K R   K i   mi ri 2 2
i i 2

1 2 2 1 2
K R    mi ri   I
2 i  2
 Where I is called the moment of inertia
 Unit of rotational kinetic energy is Joule (J)

October 17, 2022

 Work-Energy Theorem for pure
Translational motion
 The work-energy theorem tells us
1 2 1 2
Wnet  KE  KE f  KEi  mv f  mvi
2 2
 Kinetic energy is for point mass only, ignoring
rotation.  
 Work Wnet   dW   F  d s


 Power dW  ds  
P  F  F v
dt dt
October 17, 2022
Mechanical Energy Conservation
 Energy conservation
Wnc  K  U
 When Wnc = 0,
K f  U f  U i  Ki

 The total mechanical energy is conserved and remains

the same at all times
1 2 1 2
mvi  mgyi  mv f  mgy f
2 2
 Remember, this is for conservative forces, no
dissipative forces such as friction can be present

October 17, 2022

 Total Energy of a System
 A ball is rolling down a ramp
 Described by three types of energy
 Gravitational potential energy
U  Mgh
 Translational kinetic energy 1 2
Kt  MvCM
2
1 2
 Rotational kinetic energy K r  I
2

 Total energy of a system 1 2 1 2

E  MvCM  Mgh  I 
2 2
October 17, 2022
 Work done by a pure rotation
 Apply force F to mass at point r,
causing rotation-only about axis
 Find the work done by F applied to
the object at P as it rotates through
an infinitesimal distance ds
 
dW  F  d s  F cos(90   ) ds
 F sin  ds  Fr sin  d
 Only transverse component of F
does work – the same component
that contributes to torque dW  d
October 17, 2022
 Work-Kinetic Theorem pure rotation
 As object rotates from i to f , work done by the
torque f f f f f
d
W   dW   d   Id   I d   Id
i i i i dt i

 I is constant for rigid object

f f
1 2 1 2
W   Id  I  d  I f  Ii
i i
2 2

 Power dW d
P   
dt dt
October 17, 2022
 An motor attached to a grindstone exerts a constant torque
of 10 N-m. The moment of inertia of the grindstone is I = 2
kg-m2. The system starts from rest.
 Find the kinetic energy after 8 s
1 2 
K f  I  f  1600 J   f  i   t  40 rad/s     5 rad/s 2
2 I
 Find the work done by the motor during this time
f

W   d   ( f   i )  10  160  1600 J

i
1 1 1
( f  i )  i t   t 2  160 rad W  K f  K i  I  2f  I i2  1600 J
2 2 2
 Find the average power delivered by the motor
dW 1600
Pavg    200 watts
dt 8
 Find the instantaneous power at t = 8 s
P    10  40  400 watts

October 17, 2022

 Work-Energy Theorem
 For pure translation
1 1
Wnet  K cm  K cm, f  K cm,i  mv 2f  mvi2
2 2
 For pure rotation
1 2 1 2
Wnet  K rot  K rot , f  K rot ,i  I  f  I i
2 2
 Rolling: pure rotation + pure translation
Wnet  K total  ( K rot , f  K cm, f )  ( K rot ,i  K cm ,i )
1 2 1 2  1 2 1 2
  I  f  mv f    I i  mvi 
2 2  2 2 
October 17, 2022
 Energy Conservation
 Energy conservation
Wnc  Ktotal  U
 When Wnc = 0,
K rot , f  K cm, f  U f  K rot ,i  K cm ,i  U i

 The total mechanical energy is conserved and remains

the same at all times
1 2 1 2 1 1
Ii  mvi  mgyi  I 2f  mv 2f  mgy f
2 2 2 2
 Remember, this is for conservative forces, no
dissipative forces such as friction can be present

October 17, 2022

 Total Energy of a Rolling
System
 A ball is rolling down a ramp
 Described by three types of energy
 Gravitational potential energy
U  Mgh
 Translational kinetic energy
1
K t  Mv 2
2
 Rotational kinetic energy
1
K r  I 2
2
 Total energy of a system 1 2 1 2
E  Mv  Mgh  I
2 2
October 17, 2022
 Problem Solving Hints
 Choose two points of interest
 One where all the necessary information is given
 The other where information is desired
 Identify the conservative and non-conservative
forces
 Write the general equation for the Work-Energy
theorem if there are non-conservative forces
 Use Conservation of Energy if there are no non-
conservative forces
 Use v = r to combine terms
 Solve for the unknown

October 17, 2022

 A Ball Rolling Down an Incline
 A ball of mass M and radius R starts from rest at a
height of h and rolls down a 30slope, what is the
linear speed of the ball when it leaves the incline?
Assume that the ball rolls without slipping.
1 2 1 2 1 2 1 2
mvi  mgyi  Ii  mv f  mgy f  I f
2 2 2 2
1 2 1 2
0  Mgh  0  Mv f  0  I f
2 2
2 2
vf
I  MR  f 
5 R
2
1 2 12 v f 1 2 1 2 10 1/ 2
Mgh  Mv f  MR 2 2  Mv f  Mv f v f  ( gh)
2 25 R 2 5 7
October 17, 2022
 Rotational Work and Energy
 A ball rolls without slipping down incline A,
starting from rest. At the same time, a box
starts from rest and slides down incline B,
which is identical to incline A except that it
is frictionless. Which arrives at the bottom
first?
 Ball rolling:
1 2 1 2 1 2 1 2
mvi  mgyi  Ii  mv f  mgy f  I f
2 2 2 2
1 1 1 12  7
mgh  mv f 2  I  f 2  mv f 2   mR 2  (v f / R) 2  mv f 2
2 2 2 25  10
 Box sliding 1 2 1 2
mvi  mgyi  mv f  mgy f
2 2
1 7
sliding: mgh  mv f 2 rolling: mgh  mv f 2
2 10
October 17, 2022
 Blocks and Pulley
 Two blocks having different masses m1 and
m2 are connected by a string passing over a
pulley. The pulley has a radius R and
moment of inertia I about its axis of
rotation. The string does not slip on the
pulley, and the system is released from rest.

 Find the translational speeds of the blocks

after block 2 descends through a distance h.
 Find the angular speed of the pulley at that
time.
October 17, 2022
 Find the translational speeds of the blocks after block
2 descends through a distance h.
K rot , f  K cm , f  U f  K rot ,i  K cm ,i  U i

1 2 1 2 1 2
( m1v f  m2 v f  I f )  (m1 gh  m2 gh)  0  0  0
2 2 2
1 I
(m1  m2  2 )v 2f  m2 gh  m1 gh
2 R
1/ 2
 2(m2  m1 ) gh 
vf   2
m
 1  m2  I / R 
 Find the angular speed of the pulley at that time.
1/ 2
vf 1  2(m2  m1 ) gh 
f    
R R  m1  m2  I / R 2 

October 17, 2022