Rigid Object

Week 9
 A rigid object is one that is nondeformable
Chapter 10 Section 1-5  The relative locations of all particles making up
the object remain constant
Rotation  All real objects are deformable to some extent,
but the rigid object model is very useful in many
situations where the deformation is negligible
 This simplification allows analysis of the
motion of an extended object

Angular Position Angular Position, 2

 Axis of rotation is the  Point P will rotate about the origin in a circle of
center of the disc radius r
 Choose a fixed  Every particle on the disc undergoes circular motion
reference line about the origin, O
 Polar coordinates are convenient to use to represent
 Point P is at a fixed the position of P (or any other point)
distance r from the
 P is located at (r, ) where r is the distance from the
origin
origin to P and  is the measured counterclockwise
 A small element of the from the reference line
disc can be modeled as
a particle at P

Angular Position, 3 Radian

 As the particle moves,  This can also be expressed as
the only coordinate that s
changes is  
r
 As the particle moves
through , it moves   is a pure number, but commonly is given
though an arc length s. the artificial unit, radian
 The arc length and r  One radian is the angle subtended by an arc
are related: length equal to the radius of the arc
 s=r  Whenever using rotational equations, you
must use angles expressed in radians

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Conversions Angular Displacement
 Comparing degrees and radians  The angular displacement is
defined as the angle the
360 object rotates through
1 rad   57.3
2 during some time interval
Converting from degrees to radians

   f   i

  rad     degrees   This is the angle that the
180 reference line of length r
sweeps out

Average Angular Speed Instantaneous Angular Speed

 The average angular speed, ωavg, of a  The instantaneous angular speed is defined
rotating rigid object is the ratio of the angular as the limit of the average speed as the time
displacement to the time interval interval approaches zero
f   i   d
avg    lim
t 0 
tf  t i t t dt

Angular Speed, final Average Angular Acceleration

 Units of angular speed are radians/sec  The average angular acceleration, ,
 rad/s or s-1 since radians have no dimensions of an object is defined as the ratio of the
 Angular speed will be positive if θ is change in the angular speed to the time it
increasing (counterclockwise) takes for the object to undergo the change:
 Angular speed will be negative if θ is f  i 
decreasing (clockwise)  avg  
tf  ti t

2
Instantaneous Angular
Acceleration Angular Acceleration, final
 The instantaneous angular acceleration is  Units of angular acceleration are rad/s² or s-2
defined as the limit of the average angular since radians have no dimensions
acceleration as the time goes to 0  Angular acceleration will be positive if an
 d object rotating counterclockwise is speeding
  lim 
t 0
t dt up
 Angular acceleration will also be positive if an
object rotating clockwise is slowing down

Angular Motion, General Notes Directions, details

 When a rigid object rotates about a fixed axis  Strictly speaking, the
in a given time interval, every portion on the speed and acceleration
object rotates through the same angle in a ( are the
magnitudes of the
given time interval and has the same angular velocity and
speed and the same angular acceleration acceleration vectors
 So  all characterize the motion of the entire  The directions are
rigid object as well as the individual particles in actually given by the
the object right-hand rule

Rotational Kinematic
Rotational Kinematics Equations
 Under constant angular acceleration, we can f  i   t
describe the motion of the rigid object using a set of
1
kinematic equations  f   i  i t   t 2
 These are similar to the kinematic equations for linear 2
motion
 The rotational equations have the same mathematical form f2  i2  2 f   i 
as the linear equations
1
 The new model is a rigid object under constant f   i  i  f  t
angular acceleration 2
Analogous to the particle under constant acceleration
all with consant 

model

3
Comparison Between Rotational Relationship Between Angular
and Linear Equations and Linear Quantities
 Displacements  Every point on the
s  r rotating object has the
 Speeds same angular motion
v  r  Every point on the
 Accelerations rotating object does not
have the same linear
a  r motion

Speed Comparison Acceleration Comparison

 The linear velocity is  The tangential
always tangent to the acceleration is the
circular path derivative of the
 Called the tangential tangential velocity
velocity
dv d
 The magnitude is at  r  r
dt dt
defined by the
tangential speed
ds d
v r  r
dt dt

Clicker Question

Alex and Brian are riding on a merry-go-round. Alex Speed and Acceleration Note
rides on a horse at the outer rim of the circular
platform, twice as far from the center of the circular  All points on the rigid object will have the
platform as Brian, who rides on an inner horse. When
same angular speed, but not the same
the merry-go-round is rotating at a constant angular
speed, what is Alex’s tangential speed? tangential speed
 All points on the rigid object will have the
A. twice Brian’s same angular acceleration, but not the same
B. the same as Brian’s tangential acceleration
C. half of Brian’s  The tangential quantities depend on r, and r
D. four times of Brian’s is not the same for all points on the object
E. impossible to determine

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Centripetal Acceleration Resultant Acceleration
 An object traveling in a circle, even though it  The tangential component of the acceleration
moves with a constant speed, will have an is due to changing speed
acceleration  The centripetal component of the
 Therefore, each point on a rotating rigid object will acceleration is due to changing direction
experience a centripetal acceleration
 Total acceleration can be found from these
v2 components
aC   r2
r
a  at2  ar2  r 2 2  r 2 4  r  2   4

Rotational Motion Example Rotational Kinetic Energy

 For a compact disc  An object rotating about some axis with an angular
player to read a CD, speed, ω, has rotational kinetic energy even though
the angular speed must it may not have any translational kinetic energy
vary to keep the  Each particle has a kinetic energy of
tangential speed  Ki = ½ mivi2
constant (vt = r)
 Since the tangential velocity depends on the
 At the inner sections, distance, r, from the axis of rotation, we can
the angular speed is substitute vi = i r
faster than at the outer
sections

Rotational Kinetic Energy,

cont Rotational Kinetic Energy, final
 The total rotational kinetic energy of the rigid  There is an analogy between the kinetic energies
object is the sum of the energies of all its associated with linear motion (K = ½ mv 2) and the
particles kinetic energy associated with rotational motion (KR=
1 ½ I2)
K R   K i   mi ri 2 2
i i 2  Rotational kinetic energy is not a new type of
1  1 energy, the form is different because it is applied to
K R    mi ri 2  2  I 2 a rotating object
2 i  2
 The units of rotational kinetic energy are Joules (J)
 Where I is called the moment of inertia

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Moment of Inertia Moment of Inertia, cont
 The definition of moment of inertia is  We can rewrite the expression for I in terms of m
I   ri 2 mi I  mi lim0  ri 2 mi   r 2dm
i
i
 The dimensions of moment of inertia are ML2  With the small volume segment assumption,
and its SI units are kg.m2 I    r 2dV
 We can calculate the moment of inertia of an  If  is constant, the integral can be evaluated with
object more easily by assuming it is divided known geometry, otherwise its variation with position
must be known
into many small volume elements, each of
mass mi

Moment of Inertia of a Uniform

Notes on Various Densities Rigid Rod
 Volumetric Mass Density → mass per unit  The shaded area has a
volume:  = m / V mass
 Surface Mass Density → mass per unit  dm =  dx
thickness of a sheet of uniform thickness, t :  Then the moment of
 t inertia is
 Linear Mass Density → mass per unit length I y   r 2dm  
L/2
x2
M
dx
of a rod of uniform cross-sectional area:  = L / 2 L
1
m / L =  I ML2
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Moment of Inertia of a Uniform Moments of Inertia of Various

Solid Cylinder Rigid Objects
 Divide the cylinder into
concentric shells with
radius r, thickness dr
and length L
 dm =  dV = 2Lr dr
 Then for I
Iz   r 2dm   r  2Lr dr 
2

1
Iz  MR 2
2

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Clicker Question Parallel-Axis Theorem
A section of hollow pipe and a solid cylinder  In the previous examples, the axis of rotation
have the same radius, mass and length. coincided with the axis of symmetry of the object
They both rotate about their long central  For an arbitrary axis, the parallel-axis theorem often
axes with the same angular speed. Which simplifies calculations
object has higher rotational kinetic energy?  The theorem states I = ICM + MD 2
 I is about any axis parallel to the axis through the center of
A. Solid cylinder mass of the object
B. The hollow pipe  ICM is about the axis through the center of mass
 D is the distance from the center of mass axis to the
C. Same arbitrary axis
D. Information is not sufficient to determine

Parallel-Axis Theorem Moment of Inertia for a Rod

Example Rotating Around One End
 The axis of rotation  The moment of inertia
goes through O of the rod about its
 The axis through the center is
center of mass is 1
shown ICM  ML2
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 The moment of inertia
about the axis through  D is ½ L
O would be IO = ICM +  Therefore,
MD 2
I  ICM  MD 2
2
1 L 1
I ML2  M    ML2
12 2 3