Chap.

11B - Rigid Body Rotation

A PowerPoint Presentation by
Paul E. Tippens, Professor of Physics
Southern Polytechnic State University

© 2007
Objectives: After completing this
module, you should be able to:
•• Define
Define and
and calculate
calculate the
the moment
moment of
of inertia
inertia for
for
simple
simple systems.
systems.
•• Define
Define and
and apply
apply the
the concepts
concepts ofof Newton’s
Newton’s
second
second lawlaw,, rotational
rotational kinetic
kinetic energy
energy,, rotational
rotational
work
work,, rotational
rotational power
power,, and
and rotational
rotational
momentum
momentum to to the
the solution
solution of
of physical
physical problems.
problems.
•• Apply
Apply principles
principles of
of conservation
conservation of
of energy
energy and
and
momentum
momentum to to problems
problems involving
involving rotation
rotation of
of
rigid
rigid bodies.
bodies.
 Inertia of Rotation
Consider Newton’s second law for the inertia of
rotation to be patterned after the law for translation.

F = 20 N Linear Inertia, m
a = 4 m/s2

F = 20 N Rotational Inertia, I
R = 0.5 m
 = 2 rad/s2

Force does for translation what torque does for rotation:

 Rotational Kinetic Energy
Consider tiny mass m: v = R
m
K = ½mv 2
m4
K = ½m(R)2  m1 m3
m2
K = ½(mR ) 2 2 axis
Object rotating at constant 
Sum to find K total:
Rotational Inertia Defined:
K = ½(mR ) 2 2

II = mR
= mR 22

(½2 same for all m )

Rotational Inertias
For an object with an axis of symmetry

II = mR =m
22
R 22
+m R +m
22
R
= mR =m11R11 +m22R22 +m33R33 22

For an object with mass distribution:

Example 1: What is the rotational
kinetic energy of the device shown if it
rotates at a constant speed of 600 rpm?

3m 3 kg
2 kg

1m
2m 1 kg
Common Rotational Inertias
L L

I 1
3
2
mL I 1
12 mL2

R R R

I = mR 2
I = ½mR 2
I 2
5 mR 2

Hoop Disk or cylinder Solid sphere

 Parallel-Axis Theorem

The moment of inertia is minimal when the rotation axis

passes through the center-of-mass and increases as the
rotation axis is moved further from the center-of-mass.

I = Icm+mr 2
Example : Calculate the moment of
inertia for the following system
Example 2: A circular hoop and a disk
each have a mass of 3 kg and a radius
of 30 cm. Compare their rotational
inertias.
R

Disk
 Important Analogies
For many problems involving rotation, there is an
analogy to be drawn from linear motion.
m 
  50 rad/s
x I R 

f  = 40 N m
4 kg
A resultant force F A resultant torque
produces negative produces angular
acceleration a for acceleration  of disk
a mass m. with rotational inertia I.

FF  ma
ma   II
 Newton’s 2nd Law for Rotation
How many revolutions F 50 rad/s
required to stop the disk? 
R R = 0.20 m
= I 4 kg F = 40 N
Example 3: What is the linear accel-
R = 50 cm
eration of the falling 2-kg mass?
M 6 kg
Apply Newton’s 2nd law to rotating disk:
a=?
2 kg

R = 50 cm
and
6 kg
T
Apply Newton’s 2nd law to falling mass:
T
+a
2 kg

mg
 Uniform Circular Motion
Uniform circular motion is motion along a circular
path in which there is no change in speed, only a
change in direction.

v Constant velocity
Fc tangent to path.

Constant force
toward center.

Question: Is there an outward force on the ball?

 Uniform Circular Motion (Cont.)

The question of an outward force can be resolved

by asking what happens when the string breaks!
Ball moves tangent to
v path, NOT outward as
might be expected.

When central force is removed,

ball continues in straight line.

Centripetal force is needed to change direction.

 Centripetal Acceleration
Consider ball moving at constant speed v in a
horizontal circle of radius R at end of string tied to
peg on center of table. (Assume zero friction.)
n
Fc

v W
R
Force Fc and
acceleration ac
toward center. W
=n
 Deriving Central Acceleration
Consider initial velocity at A and final velocity at B:

vf B vf
-vo v
s v
vo o
R R
A
 Deriving Acceleration (Cont.)
vf
v
Definition: ac = -vo v
t s v
o
Similar v s R
=
Triangles v R
mass m
v vs vv
ac = = =
t Rt R
2 2
Centripetal
Centripetal v mv
acceleration:
ac  ; Fc  mac 
acceleration: R R
Example 1: A 3-kg rock swings in a circle
of radius 5 m. If its constant speed is 8
m/s, what is the centripetal acceleration?
v
m

22
mv
mv
FFcc  ma
macc 
RR
 Example 2: A skater moves with 15 m/s in a
circle of radius 30 m. The ice exerts a
central force of 450 N. What is the mass of
the skater?
Draw and label sketch
v = 15 m/s

Fc R
450 N 30 m

m=?

Speed skater
Example 3. The wall exerts a 600 N force on
an 80-kg person moving at 4 m/s on a
circular platform. What is the radius of the
circular path?
Draw and label sketch
Newton’s 2nd law
m = 80 kg;
for circular motion:
v = 4 m/s2
Fc = 600 N

r=?
Example 6: A 2-kg mass swings in a
horizontal circle at the end of a cord of
length 10 m. What is the constant
speed of the mass if the rope makes an
angle of 300 with the vertical?


L 
h
T
R
 Work and Power for Rotation
Work = Fs = FR FR
s

Work = 
Work =  F
 F
Work 
Power = = t = 
s = R
t
t
Power = 

Power = Torque x average angular velocity

Example 4: The rotating disk has
a radius of 40 cm and a mass of
s
6 kg. Find the work and power if
the 2-kg mass is lifted 20 m in 4 s. 
6 kg F
2 kg
F=W
s = 20 m

Work = 392 J

Power = 98 W
 The Work-Energy Theorem
Recall for linear motion that the work done is equal
to the change in linear kinetic energy:

Fx  ½ mv  ½ mv2
f
2
0

Using angular analogies, we find the rotational work

is equal to the change in rotational kinetic energy:

  ½ I  ½ I2
f
2
0
 Applying the Work-Energy Theorem:

What work is needed F 60 rad/s


to stop wheel rotating: R R = 0.30 m
Work= r F = 40 N
4 kg

First find I for wheel: I = mR2 =

Work = -½I
 Combined Rotation and Translation
vcm First consider a disk sliding
vcm without friction. The velocity of
any part is equal to velocity vcm
vcm of the center of mass.

Now consider a ball rolling without
slipping. The angular velocity  v
about the point P is same as  for R
disk, so that we write: P

v
 Or v  R
R
Two Kinds of Kinetic Energy
Kinetic Energy 
of Translation: K = ½mv 2

R v
Kinetic Energy
of Rotation: K = ½I2 P

Total Kinetic Energy of a Rolling Object:

mv  II
KTT  mv
22 22
K 11
22  11
22
 Angular/Linear Conversions
In many applications, you must solve an equation
with both angular and linear parameters. It is
necessary to remember the bridges:
bridges

s
Displacement: s R 
R
v
Velocity: v  R 
R

Acceleration: v R a
R
 Translation or Rotation?
If you are to solve for a linear parameter, you
must convert all angular terms to linear terms:
s v 
  a I  (?)mR 2
R R R
If you are to solve for an angular parameter, you
must convert all linear terms to angular terms:

s R v  R v R
Example (a): Find velocity v of a disk if
given its total kinetic energy E.

Total energy: E = ½mv2 + ½I

Example (b) Find angular velocity  of a disk
given its total kinetic energy E.

Total energy: E = ½mv2 + ½I

 Strategy for Problems
• Draw and label a sketch of the problem.
• List givens and state what is to be found.
• Write formulas for finding the moments of
inertia for each body that is in rotation.
• Recall concepts involved (power, energy,
work, conservation, etc.) and write an
equation involving the unknown quantity.
• Solve for the unknown quantity.
Example 5: A circular hoop and a circular
disk, each of the same mass and radius,
roll at a linear speed v. Compare the
kinetic energies. 

Two kinds of energy: v v
KT = ½mv2 Kr = ½I2
v
Total energy: E = ½mv + ½I
2  =
R

Disk: E = ¾mv2

Hoop: E = mv2
 Conservation of Energy
The total energy is still conserved for
systems in rotation and translation.
However, rotation must now be considered.
Begin: (U + Kt + KR)o = End: (U + Kt + KR)f

Height? mgho mghf Height?

Rotation? ½ = ½f Rotation?

velocity? ½mvo2 ½mvf2 velocity?

Example 6: Find the velocity of the 2-kg mass
just before it strikes the floor.
R = 50 cm
mgho mghf
½ = ½f 6 kg

2 kg
½mv o
2 ½mvf2
h = 10 m

I  12 MR 2
 Example 7: A hoop and a disk roll from the
top of an incline. What are their speeds at
the bottom if the initial height is 20 m?
mgho = ½mv2 + ½I2 Hoop: I = mR2

20 m

Hoop:
Disk: I = ½mR2;
 Angular Momentum Defined
Consider a particle m v = r
moving with velocity v m
in a circle of radius r. m4
 m1 m3
Define angular momentum L:
m2
L = mvr axis
Object rotating at constant 
Substituting v= r, gives:

L = m(r) r = mr2 Since I = mr2, we have:

For extended rotating
L = I
body:
L = (mr2)  Angular Momentum
Example 8: Find the angular L=2m
momentum of a thin 4-kg rod of
length 2 m if it rotates about its
midpoint at a speed of 300 rpm. m = 4 kg

For
1 12 rod1: 12
 Impulse and Momentum
Recall for linear motion the linear impulse is equal to
the change in linear momentum:

F t  mv f  mv0
Using angular analogies, we find angular impulse to
be equal to the change in angular momentum:

 t  I f  I 0
Example 9: A sharp force of 200 N is applied to
the edge of a wheel free to rotate. The force acts
for 0.002 s. What is the final angular velocity?
t = 0.002 s 0 rad/s

R R = 0.40 m
F F = 200 N
Applied torque FR 2 kg

Impulse = change in angular momentum

 Conservation of Momentum
In the absence of external torque the rotational
momentum of a system is conserved (constant).
0
Iffo=t Iffo

Io = 2 kg m2;  = 600 rpm If = 6 kg m2;  = ?

I 0 0 (2 kg  m )(600 rpm)
2
f   f = 200 rpm
If 6 kg  m 2
Summary – Rotational Analogies
Quantity Linear Rotational
Displacement Displacement x Radians 
Inertia Mass (kg) I (kgm2)
Force Newtons N Torque N·m
Velocity v “ m/s ”  Rad/s

Acceleration a “ m/s2 ”  Rad/s2

Momentum mv (kg m/s) I (kgm2rad/s)

 Analogous Formulas
Linear Motion Rotational Motion
F = ma  = I
K = ½mv2 K = ½I2
Work = Fx Work = 
Power = Fv Power = I
Fx = ½mvf2 - ½mvo2  = ½If2 - ½Io2
Summary of Formulas: II = mR
= mR
22

KK  II Work 

Work  IIoo
oo  IIffff
22
11
22 

 ½II
 ½ ½II
 ½ 
22
ff
22
00
Power 
Power 
  
 
tt

Height? mgho mghf Height?

Rotation? ½ = ½f Rotation?

velocity? ½mvo2 ½mvf2 velocity?

CONCLUSION: Chapter 11B
Rigid Body Rotation