Physics106 Lecture02

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Physics 106: Mechanics

Lecture 02

Wenda Cao
NJIT Physics Department
Rotational Equilibrium and
Rotational Dynamics
 Rotational Kinetic Energy
 Moment of Inertia
 Torque
 Angular acceleration
 Newton 2nd Law for
Rotational Motion: Torque
and angular acceleration

April 7, 2009
Rotational Kinetic Energy
 An object rotating about z axis with
an angular speed, ω, has rotational
kinetic energy
 Each particle has a kinetic energy of
 K = ½ mv2
i i i

 Since the tangential velocity


depends on the distance, r, from the
axis of rotation, we can substitute
vi = ri
April 7, 2009
Rotational Kinetic Energy, cont
 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

April 7, 2009
Rotational Kinetic Energy, final
 There is an analogy between the kinetic energies
associated with linear motion (K = ½ mv 2) and
the kinetic energy associated with rotational
motion (KR= ½ I2)
 Rotational kinetic energy is not a new type of
energy, the form is different because it is
applied to a rotating object
 Units of rotational kinetic energy are Joules (J)

April 7, 2009
Moment of Inertia of Point Mass
 For a single particle, the definition of moment
of inertia is 2
I  mr
 m is the mass of the single particle
 r is the rotational radius
 SI units of moment of inertia are kg.m2
 Moment of inertia and mass of an object are
different quantities
 It depends on both the quantity of matter and
its distribution (through the r2 term)
April 7, 2009
Moment of Inertia of Point Mass
 For a composite particle, the definition of moment of
inertia is 2 2 2 2 2
I   mi ri  m1r1  m2 r2  m3r3  m4 r4  ...
 mi is the mass of the ith single particle
 ri is the rotational radius of ith particle
 SI units of moment of inertia are kg.m2
 Consider an unusual baton made up of four sphere
fastened to the ends of very light rods
 Find I about an axis perpendicular to the page and
passing through the point O where the rods cross
2
I   mi ri  mb 2  Ma 2  mb 2  Ma 2  2Ma 2  2mb 2
April 7, 2009
The Baton Twirler
 Consider an unusual baton made
up of four sphere fastened to the
ends of very light rods. Each rod is
1.0m long (a = b = 1.0 m). M =
0.3 kg and m = 0.2 kg.
 (a) Find I about an axis
perpendicular to the page and
passing through the point where
the rods cross. Find KR if angular
speed is 
 (b) The majorette tries spinning
her strange baton about the axis y,
calculate I of the baton about this
axis and KR if angular speed is 

April 7, 2009
Moment of Inertia of Extended Objects
 Divided the extended objects into many small volume
elements, each of mass mi
 We can rewrite the expression for I in terms of m
I  mi lim0  ri 2 mi   r 2dm
i

 With the small volume segment assumption,


I    r 2dV
 If  is constant, the integral can be evaluated with
known geometry, otherwise its variation with position
must be known

April 7, 2009
Moment of Inertia
of a Uniform Rigid Rod
 The shaded area has
a mass
 dm =  dx
 Then the moment of
inertia is
L/2 M
I y   r dm  
2 2
x dx
L / 2 L
1
I ML2
12

April 7, 2009
Parallel-Axis Theorem
 In the previous examples, the axis of
rotation coincided with the axis of
symmetry of the object
 For an arbitrary axis, the parallel-axis
theorem often simplifies calculations
 The theorem states
I = ICM + MD 2
 I is about any axis parallel to the axis through
the center of mass of the object
 ICM is about the axis through the center of
mass
 D is the distance from the center of mass axis
to the arbitrary axis
April 7, 2009
Moment of Inertia
of a Uniform Rigid Rod
 The moment of inertia
about y is
L/2 M
I y   r dm  
2
x2 dx
L / 2 L
1
I ML2
12
 The moment of inertia
about y’ is
1 L 2 1
I y '  I CM  MD  ML  M ( )  ML2
2 2

12 2 3
April 7, 2009
Moment of Inertia for some other
common shapes

April 7, 2009
April 7, 2009
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

April 7, 2009
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
April 7, 2009
Torque Units and Direction
 The SI units of torque are N.m
 Torque is a vector quantity
 Torque magnitude is given by

  rF
 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
April 7, 2009
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
April 7, 2009
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

April 7, 2009
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
April 7, 2009
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

April 7, 2009
The Swinging Door
 Two forces are applied to the 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

April 7, 2009
Torque on a Rotating Object
 Consider a particle of mass m rotating in a circleof
radius r under the influence of tangential force Ft
 The tangential force provides a tangential acceleration:
Ft = mat
 Multiply both side by r, then
rFt = mrat
 Since at = rwe have
rFt = mr2
 So, we can rewrite it as
= mr2
= I
April 7, 2009
Torque on a Solid Disk
 Consider a solid disk rotating about its axis.
 The disk consists of many particles at various
distance from the axis of rotation. The torque on
each one is given by
= mr2
 The net torque on the disk is given by
 = (mr2)
 A constant of proportionality is the moment of
inertia,
I = mr2 = m1r12 + m2r22 + m3r32 + …
 So, we can rewrite it as
 = I
April 7, 2009
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
April 7, 2009
April 7, 2009
The Falling Object
 A solid, frictionless cylindrical reel of
mass M = 3.0 kg and radius R =
0.4m is used to draw water from a
well. A bucket of mass m = 2.0 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 ?
April 7, 2009
Example, Newton’s Second Law
for Rotation
 Draw free body diagrams
of each object
 Only the cylinder is
rotating, so apply  = I 
 The bucket is falling, but
not rotating, so apply F =
ma
 Remember that a =  r
and solve the resulting
equations

April 7, 2009

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