Parallel Axis Theorem and Torque

Today’s Concepts:
a) Parallel Axis Theorem
b) Torque & Angular Acceleration
Calculating Moment of Inertia

Depends on
rotation axis
 Previous lecture
A mass M is uniformly distributed over the length L of a thin rod.

dx
L

The mass inside a short element dx is given by:

dm M M
=  dm = dx
dx L L
 Moment of Inertia: Thin rod
y
x
M dx
Rotate rod
around end L

L M
I z =  dm x = 0
L 2
2
x dx
0 L
M L
=
L 0
x 2 dx

  1
L
  3 3
M x M L
=   =  − 0  = ML2

L  3 0 L  3  3

 CM Moment of Inertia

CM

𝐿/2
𝑀 𝐿/2 2
𝐼𝑧 = න 𝑑𝑚𝑥 2 = න 𝑥 𝑑𝑥
−𝐿/2 𝐿 −𝐿/2

3 𝐿/2
𝑀 𝑥
=
𝐿 3 −𝐿/2

𝑀 𝐿3 𝐿3 1
= − − = 𝑀𝐿2
𝐿 24 24 12
 Parallel Axis Theorem

ITotal = MD 2 + I CM

D
M
CM
L
2
L 1 1 1  2
I z = MD + I CM
2
= M   + ML =  +  ML
2

 2  12  4 12 
1
= ML2
3
Moment of Inertia: Cylinders & Spheres
 iClicker Question
A solid ball of mass M and radius is connected to a rod of mass m
and length L as shown. What is the moment of inertia of this
system about an axis perpendicular to the other end of the rod?

1 2
A) I = ML + mL
2

3
2 1 2
B) I = MR + mL
2 R m
5 3 M
L
2 1
C) I = MR + mL + ML2
2 2

5 3

2 1 axis
D) I = MR 2 + ML2 + mL2
5 3
 Results: iClicker Question
A solid ball of mass M and radius is connected to a rod of mass m
and length L as shown. What is the moment of inertia of this
system about an axis perpendicular to the other end of the rod?

ITotal = MD 2 + I CM

2
𝐼𝑆𝑝ℎ𝑒𝑟𝑒 = 𝑀𝐿2 + 𝑀𝑅2
5 R m
1 2 M
𝐼𝑅𝑜𝑑 = 𝑚𝐿 L
3
2 1 2
𝐼𝑆𝑦𝑠𝑡𝑒𝑚 = 𝐼𝑆𝑝ℎ𝑒𝑟𝑒 + 𝐼𝑅𝑜𝑑 = 𝑀𝐿2 2
+ 𝑀𝑅 + 𝑚𝐿
5 3 axis
Answer is D)
 Bridge Assignment: Dumbbell Moments
A ball of mass 3M at x = 0 is connected to a ball of mass M at x = L by a massless
rod. Consider the three rotation axes A, B, and C as shown, all parallel to the y-axis.
About which rotation axis is the moment of inertia of the object smallest?

oA A B C
oB
oC y

3M M

0 L/4 L/2
 Results: Dumbbell Moments
For which rotation axis is the moment of inertia of the object smallest?
oA
oB 1 3M  0 + ML L
oC xCM =
M
m 
i i =
i
x
3M + M
=
4
tot

A B C
The parallel-axis theorem tells us that
y ITotal = MD 2 + I CM the moment of inertia is smallest for
rotations about the CM (i.e., D = 0)
x

CM
3M M
L

0 L/4 L/2
 Results: Dumbbell Moments
Check: I = I Sphere,M + I Sphere,3M ISphere = MD 2 + I CM

   
I A =  ML2 + MR 2  + (3M )(0) 2 + (3M ) R 2 
2 2
 5   5 
8
A B C = MR 2 + ML2
5
y
  3L  2 2   2
L 2 
I B =  M   + MR  + (3M )  + (3M ) R 
2 2

x   4  5   4 5 
8 3
= MR 2 + ML2
5 4
3M M
  L 2 2    
2

I C =  M   + MR  + (3M )  + (3M ) R 
2 L 2 2
L   2  5   2 5 
8
= MR 2 + ML2
0 L/4 L/2 5
 IB < IA ,IC
 Right Hand Rules for finding Directions

The angular velocity and acceleration

point perpendicular to the plane of
rotation.
 iClicker Question
A ball rolls across the floor, and then starts up a ramp as
shown below. In what direction does the angular velocity
vector point when the ball is rolling up the ramp?

A) Into the page

B) Out of the page
C) Up
D) Down
 iClicker Question
A ball rolls across the floor, and then starts up a ramp as
shown below. In what direction does the angular acceleration
vector point when the ball is rolling up the ramp?

A) Into the page

B) Out of the page

 d
 into the page, but 0
dt
 iClicker Question
A ball rolls across the floor, and then starts up a ramp as
shown below. In what direction does the angular
acceleration vector point when the ball is rolling back down
the ramp?

A) into the page


B) out of the page  d
 out of page, and 0
dt
Torque

 = rF sin  = I magnitude
 Bridge Assignment: Torque on Door
In Case 1, a force F is pushes perpendicular on an object a
distance L/2 from the rotation axis. In Case 2, the same force
pushes at an angle of 30 a distance L from the axis, as shown

In which case is the torque due to the force about the rotation
axis greater?

A) Case 1 B) Case 2 C) neither

axis axis

L/2 90o F F
L 30o

Case 1 Case 2
 Results: Torque on Door
In which case is the torque due to the force about the rotation
axis greater?

A) Case 1 B) Case 2 C) neither

axis axis

L/2 90o F F
o
L 30o 30

F sin 30
Case 1 Case 2
L  = rF sin  = LF sin 30
 = rF sin  =   F sin 90
2
1
1 = LF
= LF 2
2
Similarity to 1D motion
 The Vector Cross Product
  
The cross product of two vectors is another vector:
 A B = C
The magnitude of C is given by: C = AB sin 
  
The direction of C is perpendicular to the plane defined by A and B , and in the
direction defined by the right-hand rule:

Using your righthand, put your fingers in A
the direction of A and curl them toward
the direction of B. Your
 thumb
 now points
in the direction of C = A  B.  
B 
C  
B

   points into
C A the page.

points out of the page.

 Torque & the Vector Cross Product

  
  = r F
r F

x
 iClicker Question
Strings are wrapped around the circumference of two solid
disks and pulled with identical forces. Disk 1 has a bigger
radius, but both have the same moment of inertia.
Which disk has the greatest angular acceleration?
   
 = r  F = I 1 =
RF
2 =
rF
I I
 = rF sin  = I
1 2
A) Disk 1 R r
B) Disk 2
C) same F F
 Bridge Assignment: Two Wheels
Two wheels can rotate freely about fixed axles through their centers. The
wheels have the same mass, but one has twice the radius of the other.
Forces F1 and F2 are applied as shown, such that the angular acceleration
of the two wheels is the same.

Compare the magnitudes of the two forces.

A) F2 = F1 F2
B) F2 = 2F1 F1

C) F2 = 4F1

Case 1 Case 2
Moment of Inertia: Cylinders & Spheres
 Results: Two Wheels
Compare the magnitudes of the two forces.

A) F2 = F1 F2
F1
B) F2 = 2F1
C) F2 = 4F1 M, R
M, 2R
Case 1 Case 2

RF1 2 R  F2
 = rF sin  = I = =
I1 I2
RF1 (2 R) F2
= =
MR 2 M (2 R) 2
F1 F2
= =
MR 2 MR
 Homework

Complete the PreLecture and Bridge Assignments: Rotational

Dynamics
- due 9:00 am on Wednesday, November 18th