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System of Particles and Rotational Motion 2

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Rigid Body

• Shape and size of the system remains

same.
• No change in the distance between
any pair of particles.
• No velocity of separation or approach
between any two particles.
 Rigid Body

𝑦 𝑦
𝑣𝐴 sin 𝜃𝐴
𝑣Ԧ𝐴
𝑥 𝑥
𝑣Ԧ𝐵
𝑣𝐵 sin 𝜃𝐵 𝑣Ԧ𝐴𝐵 ⊥ 𝑣Ԧ𝐴𝐵
𝜃𝐵 𝜃A
𝑣𝐵 cos 𝜃𝐵
𝐵 𝐴 𝑣𝐴 cos 𝜃𝐴 𝐵 𝐴 𝑣Ԧ𝐴𝐵 ∥

No velocity of separation or approach between the particles.

• 𝑣Ԧ𝐴𝐵 = 𝑣Ԧ𝐴 − 𝑣Ԧ𝐵

• 𝑣Ԧ𝐴𝐵 = 𝑣𝐴 cos 𝜃𝐴 − 𝑣𝐵 cos 𝜃𝐵 𝑖Ƹ + 𝑣𝐴 sin 𝜃𝐴 − 𝑣𝐵 sin 𝜃𝐵 𝑗Ƹ
• 𝑣𝑠𝑒𝑝 = 𝑣𝐴𝐵 ∥ =0 ⇒ 𝑣𝐴 cos 𝜃𝐴 = 𝑣𝐵 cos 𝜃𝐵
 The velocity of end 𝐴 of a rigid rod placed between two smooth
perpendicular surfaces moves with velocity 10 𝑚/𝑠 along the vertical
when the angle 𝜃 = 30°. Velocity of end 𝐵 at that exact moment is

Solution : Velocity of separation between the particles

at the ends of the rod must be zero since it
is rigid.

𝑣𝑠𝑒𝑝 = 0

⇒ 𝑣𝐴 cos 𝜃 = 𝑣𝐵 sin 𝜃

⇒ 10 cos 30° = 𝑣𝐵 sin 30°

3 1
⇒ 10 × = 𝑣𝐵 × 10 3 𝑚/𝑠
2 2
10
𝑚/𝑠
⇒ 𝑣𝐵 = 10 3 𝑚/𝑠 3

5 3 𝑚/𝑠

5
𝑚/𝑠
3
Circular v/s Rotational Motion

• A circular motion is generally defined for a particle.

• The term rotational motion is used in the case of an

extended body.

Axis of Rotation
• AOR is the straight line passing through all the fixed points of a
rotating rigid body around which all other points of the body
move in circles.

• It does not have to pass through the body.

• It does not have to be fixed.

• It does not have to be perpendicular to the surface plane of a

two-dimensional object.
 Types of Rigid Body Motion

Pure Rotational Motion

Angular displacement of each particle
within a particular time interval is same.

Pure Translational Motion

Displacement of each particle within a
particular time interval is same.

Combined Motion [Translation + Rotation]

 Torque

• It is the rotational analogue of Force.

• Represented by Greek letter 𝜏 (Tau)
• Mathematically called as Moment of Force
𝐹Ԧ • Torque of the force 𝐹Ԧ on the system about point 𝑂
is given by
𝑟Ԧ 𝑃
𝑂 𝜏Ԧ = 𝑟Ԧ × 𝐹Ԧ

Where,
𝑟Ԧ = Position vector of the point of application of
force w.r.t. point 𝑂
 Direction of Torque

• Torque is an axial vector.

• Direction is determined using the right-hand thumb rule.

𝜏Ԧ = 𝑟Ԧ × 𝐹Ԧ

If 𝑟Ԧ and 𝐹Ԧ are in a plane, then the direction of the 𝜏Ԧ will be perpendicular to the plane.
 Magnitude of Torque

𝐹 cos 𝜃

𝑃 𝜃 𝑃 𝜃 𝐹Ԧ
𝑟 sin 𝜃 𝐹Ԧ
𝑟Ԧ
𝜃 𝑟Ԧ
𝐹⊥ = 𝐹 sin 𝜃
𝑟 cos 𝜃 𝑂
𝑂

𝜏 = 𝑟Ԧ × 𝐹Ԧ = 𝑟𝐹 sin 𝜃 = 𝑟 sin 𝜃 𝐹 𝜏 = 𝑟Ԧ × 𝐹Ԧ = 𝑟𝐹 sin 𝜃 = 𝑟 𝐹 sin 𝜃

⇒ 𝜏 = 𝑟⊥ 𝐹 ⇒ 𝜏 = 𝑟𝐹⊥

𝐹 −Applied Force 𝐹⊥ − Perpendicular component of

applied Force
𝑟⊥ − Force arm
 A particle of mass 2 𝑘𝑔 is projected with speed 𝑢 = 10 𝑚/𝑠 at angle
𝜃 = 30° with horizontal. Find the torque of the weight of the particle
about the point of projection when the particle is at the highest point.

Solution : 𝑚 = 2 𝑘𝑔

Torque about the point of projection,

𝜏 = 𝑟⊥ 𝐹

𝑅
⇒𝜏= 𝑚𝑔
2

𝑢2 sin 2𝜃
𝑔
⇒𝜏= 𝑚𝑔
2 100 𝑁 𝑚

102 sin 60°

⇒𝜏= × 2𝑔 50 𝑁 𝑚
2𝑔
50 3 𝑁 𝑚
⇒ 𝜏 = 50 3 𝑁 𝑚
100 3 𝑁 𝑚
 Force Couple

Consider clockwise direction as +𝑣𝑒.

Torque about point 𝑃,

𝜏 = 𝐹𝑥1 + 𝐹𝑥2
2𝑑
𝑃 𝐹
𝐴 𝐵 ⇒ 𝜏 = 𝐹 𝑥1 + 𝑥2
𝑥1 𝑥2
𝐹
⇒ 𝜏 = 𝐹(2𝑑)

𝜏 = 2𝐹𝑑

Note: Torque is independent of 𝑥1 , 𝑥2

 If the torque due to the couple in the given figure is 21 𝑁 𝑚, then the
value of 𝑥 is

Solution : Torque due to the couple, 𝜏 = 𝐹𝑑

⇒ 21 = 12 × 𝑑

⇒ 𝑑 = 1.75 𝑚

Now, 𝑑 + 𝑥 = 2 𝑚

⇒ 𝑥 = 12 − 𝑑 25 𝑐𝑚

⇒ 𝑥 = 12 − 1.75
12 𝑐𝑚
⇒ 𝑥 = 0.25 𝑚
9 𝑐𝑚
𝑥 = 25 𝑐𝑚
10 𝑐𝑚
 Point of Application of Force

𝑦 𝐹Ԧ1 𝐹Ԧ2 𝑦 𝐹Ԧ𝑛𝑒𝑡

𝑏
𝑎 𝑟Ԧ2 𝑟Ԧ𝑒𝑓𝑓
𝑟Ԧ1 𝑃
𝑐
𝑟Ԧ3 𝐹Ԧ3
𝑥 𝑥

• 𝑃 is the point at which the resultant of external forces (𝐹Ԧ𝑛𝑒𝑡 ) can be

assumed to be applied.

• 𝐹Ԧ𝑛𝑒𝑡 = 𝐹Ԧ1 + 𝐹Ԧ2 + 𝐹Ԧ3

• 𝜏Ԧ𝑛𝑒𝑡 = 𝑟Ԧ1 × 𝐹Ԧ1 + 𝑟Ԧ2 × 𝐹Ԧ2 + 𝑟Ԧ3 × 𝐹Ԧ3 = 𝑟Ԧ𝑒𝑓𝑓 × 𝐹Ԧ𝑛𝑒𝑡

 Mechanical Equilibrium

• Translational equilibrium 𝐹Ԧ3

෍ 𝐹Ԧ𝑖 = 𝟎

• Rotational equilibrium 𝜏Ԧ𝑛𝑒𝑡 = 𝟎

෍ 𝜏Ԧ𝑖 = 𝟎 ( Torque can be calculated about any axis )​

𝐹Ԧ1
A system is in mechanical equilibrium if it is in
translational as well as rotational equilibrium.
𝐹Ԧ2
𝐹Ԧ1 + 𝐹Ԧ2 + 𝐹Ԧ3 = 𝟎
 A uniform rod of mass 2𝑀 and length 𝐿 is placed on two supports as
shown in the figure. A block of mass 5𝑀 is suspended from one end of
the rod. Another mass 𝑀 is placed on top at the opposite end. The rod is
just in equilibrium. Find out the normal reactions provided by the two
Solution : supports.
 Toppling

𝐹
𝐹 𝑁 𝐹 𝑁 𝑁

𝑓 𝑃 𝑓 𝑃 𝑓 𝑃

𝑚𝑔 𝑚𝑔 𝑚𝑔

• As the external force 𝐹 increases, normal force 𝑁 adjusts its

point of application in order to keep the block from toppling.
• When 𝐹 and therefore the friction 𝑓 is high enough, normal
force can no longer provide the counter-balancing torque and
the block topples about point 𝑃.
 A block with a square base measuring 𝑎 × 𝑎, and height ℎ, is placed on
an inclined plane. The coefficient of friction is 𝜇. The angle of inclination
𝜃 of the plane is gradually increased. The block will

Condition for Sliding Condition for Toppling

𝑎
topple before sliding if 𝜇 >
ℎ

𝑁 = 𝑚𝑔 cos 𝜃 About point 𝑃 (To initiate toppling) topple before sliding if 𝜇 <
𝑎
ℎ

𝑚𝑔 sin 𝜃 = 𝑓𝑠 𝑚𝑎𝑥 (Body is just about to slide) 𝜏𝑚𝑔 sin 𝜃 > 𝜏𝑚𝑔 cos 𝜃 slide before toppling if 𝜇 >
𝑎
ℎ
ℎ 𝑎 𝑎
𝑚𝑔 sin 𝜃 = 𝜇𝑁 = 𝜇𝑚𝑔 cos 𝜃 𝑚𝑔 sin 𝜃 × > 𝑚𝑔 cos 𝜃 × slide before toppling if 𝜇 <
2 2 ℎ

tan 𝜃 = 𝜇
𝑎
tan 𝜃 > (To initiate toppling)
tan 𝜃 > 𝜇 (To initiate sliding) ℎ
 Moment of Inertia
 Rotational analogue of mass.

 Moment of inertia of a particle of mass 𝑚 located at a

perpendicular distance 𝑟 from an axis in consideration
is given by,

𝐼 = 𝑚𝑟 2

 It is a scalar quantity.

 Unit of MOI is 𝑘𝑔 𝑚2 .

• Moment of inertia of 𝑛 particles having mass 𝑚1 , 𝑚2 ,…,

𝑚𝑛 at distance 𝑟1 , 𝑟2 ,…, 𝑟𝑛 from an axis is given by,
𝑛

𝐼= 𝑚1 𝑟12 + 𝑚2 𝑟22 +…+ 𝑚𝑛 𝑟𝑛2 = ෍ 𝑚𝑖 𝑟𝑖2

𝑖=1

Note: Moment of inertia is added only if they are defined with respect to
the same axis of rotation.
 A massless equilateral triangle 𝐸𝐹𝐺 of side 𝑎 has three particles of mass 𝑚
situated at its vertices. If the moment of inertia of the system about the line
𝑁
𝐸𝑋 perpendicular to 𝐸𝐺 in the plane of 𝐸𝐹𝐺 is 20 𝑚𝑎2 , then 𝑁 is

Solution :
Moment of inertia of the system about 𝐸𝑋,

𝐼 = 𝐼1 + 𝐼2 + 𝐼3

𝑎 2
2
⇒𝐼=𝑚 0 +𝑚 + 𝑚𝑎2
2

5 25
⇒ 𝐼 = 𝑚𝑎2 = 𝑚𝑎2
4 20

20
⇒ 𝑁 = 25
5

25

4
Moment of Inertia of Continuous Bodies

MI of the element about 𝑂𝑂’,

𝑑𝐼 = 𝑟 2 𝑑𝑚

MI of the continuous body about 𝑂𝑂’,

𝐼 = න 𝑑𝐼 = න 𝑟 2 𝑑𝑚

𝐼 = න 𝑟 2 𝑑𝑚

Moment of Inertia depends on

• Axis of rotation,

• Shape and size of the body, and

• Distribution of mass relative to axis of

rotation
 Calculate the moment of inertia of a uniform rod of length 𝐿 and mass
𝑀 about an axis passing through its centre and perpendicular to it.

Solution :
Let 𝜆 be the density of the rod.

From the definition of MOI,

𝑑𝐼 = 𝑑𝑚 × 𝑥 2

⇒ 𝑑𝐼 = 𝜆 𝑑𝑥 × 𝑥 2

𝑀
⇒ 𝑑𝐼 = 𝑑𝑥 × 𝑥 2
𝐿
𝑀𝐿2
𝐿ൗ
2 2
𝑀
∴ 𝐼 = න 𝑑𝐼 = න 𝑥 2 𝑑𝑥
𝐿 𝑀𝐿2
−𝐿ൗ2 12

𝑀𝐿2
𝐿ൗ 3
𝑀 𝑥3 2 𝑀𝐿2
⇒𝐼= × ⇒ 𝐼=
𝐿 3 12 𝑀𝐿2
−𝐿ൗ2
4
 Moment of Inertia of a Thin Uniform Rod
About an axis passing through the end of the rod About an axis passing through the end of the rod making an
perpendicular to it angle 𝜃 with it

𝐿
From the definition of MOI, 2
𝑑𝐼 = 𝑟 × 𝑑𝑚 𝑀 2 𝑥3
𝐼 = sin 𝜃 ×
𝐿 3 0
2
𝑑𝐼 = 𝑑𝑚 × 𝑥 𝐿 2
𝑀 𝑥3 ⇒ 𝑑𝐼 = 𝑟 × 𝜆 𝑑𝑥
⇒𝐼= ×
⇒ 𝑑𝐼 = 𝜆 𝑑𝑥 × 𝑥 2 𝐿 3 0 𝑀
2
⇒ 𝑑𝐼 = 𝑥 sin 𝜃 × 𝑑𝑥 𝑀𝐿2 2
𝑀 𝐿 𝐼= sin 𝜃
⇒ 𝑑𝐼 = 𝑑𝑥 × 𝑥 2 3
𝐿 𝑀𝐿2
𝐿 ⇒𝐼= 𝐿
𝑀 3 𝑀 2
∴ 𝐼 = න 𝑑𝐼 = න 𝑥 2 𝑑𝑥 𝐼 = න 𝑑𝐼 = sin 𝜃 න 𝑥 2 𝑑𝑥
𝐿 𝐿
0 0
 Linear mass density of the two rods system, 𝐴𝐶 and 𝐶𝐵 is 𝑥. Moment of
inertia of two rods about an axis passing through their centres as shown
is

𝑙/2 𝑙
Solution : 𝐿= =
cos 45° 2
𝑥𝑙
Mass of each rod, 𝑚 = 𝑥𝐿 = 2

Moment of inertia of the two rods,

𝑚𝐿2 2
⇒𝐼=2 sin 45°
12
2
𝑥𝑙 𝑙
𝑥𝑙 3
2 2 1
⇒𝐼=2 × 24 2
12 2 𝑥𝑙 3
12 2

𝑥𝑙 3 2𝑥𝑙 3
⇒𝐼= 3
24 2 𝑥𝑙 3
6 2
Moment of Inertia of a Thin Uniform Ring
𝑅 represents the distance of 𝑑𝑚 from the axis in this
case

𝑀 𝑀
𝑑𝑚 = 𝜆𝑑𝑙 = 𝑅𝑑𝜃 = 𝑑𝜃
2𝜋𝑅 2𝜋

𝑀
𝑑𝐼 = 𝑅 2 𝑑𝑚 = 𝑅 2 × 𝑑𝜃
2𝜋

𝐼 = න 𝑑𝐼 = න 𝑅 2 (𝑑𝑚)

𝑀𝑅 2 2𝜋
𝐼= න 𝑑𝜃
2𝜋 0

𝑀𝑅 2
𝐼= (2𝜋)
2𝜋

𝐼 = 𝑀𝑅 2
Moment of Inertia

1 𝑡ℎ
part of a ring
𝑛

𝑅 𝑀

1
𝐼= 𝐼
𝑛 𝑟𝑖𝑛𝑔
1
⇒ 𝐼 = (𝑛𝑀)𝑅2
𝑛

⇒ 𝐼 = 𝑀𝑅2
 Moment of Inertia of a Thin Non- Uniform Ring

For a non-uniform ring,

𝑀
𝐼 = න(𝑑𝑚)𝑅2 = 𝑅2 න(𝑑𝑚)

𝑂 𝑑𝜃
𝑅 𝑑𝑚
But, ‫𝑀 = )𝑚𝑑(׬‬
𝑑𝑙
⇒ 𝐼 = 𝑀𝑅2
Moment of Inertia of a Thin Uniform Disc

𝑟 represents the distance of differential element of mass

dm from the axis in consideration.

𝑀 2𝑀
𝑑𝑚 = 𝜎(𝑑𝐴) = 2𝜋𝑟 𝑑𝑟 = 𝑟𝑑𝑟
𝜋𝑅 2 𝑅2

2𝑀 2𝑀 3
∴ 𝑑𝐼 = 𝑟 2 𝑑𝑚 = 𝑟 2 𝑟𝑑𝑟 = 𝑟 𝑑𝑟
𝑅2 𝑅2

𝐼 𝑅
2𝑀 3 2𝑀 𝑅 3
⇒ න 𝑑𝐼 = න 2 𝑟 𝑑𝑟 = 2 න 𝑟 𝑑𝑟
0 0 𝑅 𝑅 0

2𝑀 𝑅 4
⇒𝐼= 2
𝑅 4

𝑀𝑅 2
⇒ 𝐼=
2
 Moment of Inertia

1
𝐼𝑠𝑒𝑐𝑡𝑖𝑜𝑛 = 𝐼
𝑛 𝑑𝑖𝑠𝑐

1 (𝑛𝑀)𝑅2
⇒ 𝐼𝑠𝑒𝑐𝑡𝑖𝑜𝑛 =
𝑛 2

𝑀𝑅2
⇒ 𝐼𝑠𝑒𝑐𝑡𝑖𝑜𝑛 =
2
MOI of a Thin Uniform Hollow Cylinder

𝑅 is the distance of a thin ring of mass 𝑑𝑚 from

the axis

Moment of inertia of the elemental ring,

𝑑𝐼 = 𝑅2 𝑑𝑚

∴Moment of inertia of the cylinder,

𝐼 𝑀

න 𝑑𝐼 = න 𝑅2 𝑑𝑚
0 0

⇒ 𝐼 = 𝑀𝑅2
MOI of Some Standard Symmetric Bodies
 If 𝐼1 is the moment of inertia of a thin rod about an axis perpendicular to its
length and passing through its centre of mass and 𝐼2 is the moment of inertia
of a ring about an axis perpendicular to its plane and passing through its centre
formed by bending the same rod, then

Solution : Length of the thin rod = Perimeter of the ring ⇒ 𝐿 = 2𝜋𝑅

Moment of inertia of the thin rod,

𝑀𝐿2 𝑀 4𝜋 2 𝑅 2 𝜋2
𝐼1 = = = (𝑀𝑅 2 )
12 12 3
𝐼1 3
a = 2
𝐼2 𝜋
Moment of inertia of the ring,

𝐼2 = 𝑀𝑅 2 𝐼1 2
b = 2
𝐼2 𝜋
𝜋2
∴ 𝐼1 = (𝐼 ) 𝐼1 𝜋 2
3 2 c =
𝐼2 2
𝐼1 𝜋 2
⇒ = 𝐼1 𝜋 2
𝐼2 3 d 𝐼2
=
3
 Perpendicular Axes Theorem

“The moment of inertia of a planar body

𝑧 about an axis perpendicular to its plane is
equal to the sum of its moments of
inertia about two perpendicular axes
concurrent with perpendicular axis and
lying in the plane of the body”

𝑟𝑖
𝐼𝑧 = 𝐼𝑥 + 𝐼𝑦
𝑥 𝑚𝑖 (𝑥𝑖 , 𝑦𝑖 )
𝑦

Note: It’s only applicable for laminar / planar / 2D objects

 Calculate the moment of inertia of a thin uniform ring of mass 𝑀 and
radius 𝑅 about the axis passing through its diameter.

Solution : By symmetry, 𝐼𝑥 = 𝐼𝑦 = 𝐼

Using Perpendicular Axis Theorem,

𝐼𝑧 = 𝐼𝑥 + 𝐼𝑦

⇒ 𝐼𝑧 = 𝐼 + 𝐼 = 2𝐼

⇒ 𝑀𝑅 2 = 2𝐼

𝑀𝑅 2
𝐼=
2
 Perpendicular Axes Theorem

The moment of inertia of a planar body

𝑧 about an axis perpendicular to its plane is
equal to the sum of its moments of
inertia about two perpendicular axes
concurrent with perpendicular axis and
lying in the plane of the body.

𝑟𝑖
𝐼𝑧 = 𝐼𝑥 + 𝐼𝑦
𝑥 𝑚𝑖 (𝑥𝑖 , 𝑦𝑖 )
𝑦

Note: It’s only applicable for laminar / planar / 2D objects

 Thin Uniform Rectangular Lamina

𝑧 Moment of Inertia about the 𝑥 axis,

𝑀𝑏2
𝐼𝑥 =
12

𝑦 Moment of Inertia about the 𝑦 axis,

𝑀𝑙 2
𝐼𝑦 =
12

𝐶𝑂𝑀
𝑥 By Perpendicular Axes Theorem,

𝐼𝑧 = 𝐼𝑥 + 𝐼𝑦
𝑏
𝑙 𝑀 2
𝐼𝑧 = 𝑏 + 𝑙2
12
 Parallel Axes Theorem

𝐴
𝐼𝐶𝑂𝑀 • Moment of Inertia of a body about an
axis parallel to an axis through COM and
𝑑 separated by a perpendicular distance
𝑑 is given by,
𝑀
𝐼𝐴𝐴′ = 𝐼𝐶𝑂𝑀 + 𝑀𝑑 2
𝐶𝑂𝑀
Where,
𝐼𝐴𝐴′ = (𝐼𝑠𝑦𝑠 )𝐴𝐴′

𝐼𝐶𝑂𝑀 = (𝐼𝑠𝑦𝑠 )𝐶𝑂𝑀

𝐴′
Parallel Axes Theorem

𝑧 𝐴
𝑑

𝑀 𝑦

𝐶𝑂𝑀
𝑥

𝑏
𝑙
𝐴′

𝑀 2
𝐼𝐴𝐴′ = 𝑏 + 𝑙 2 + 𝑀𝑑 2
12
 Find the moment of inertia of the two uniform joint rods having mass
𝑚 each about point 𝑃 as shown in the figure, using parallel axes
theorem.

Solution : Moment of inertia of the system about the given axis,

𝐼𝑃 = (𝐼1 )𝑃 +(𝐼2 )𝑃

= (𝐼𝑐𝑜𝑚 + 𝑚𝑑12 ) + (𝐼𝑐𝑜𝑚 + 𝑚𝑑22 )

2 2
𝑚𝑙2 𝑙 𝑚𝑙2 5𝑙
= +𝑚 + +𝑚
12 2 12 2

𝑚𝑙2 𝑚𝑙2 𝑚𝑙2 5𝑚𝑙2

= + + +
12 4 12 4

𝑚𝑙2 4𝑚𝑙2
= +
3 3
5𝑚𝑙 2
𝐼𝑃 =
3
 Four solid spheres each of diameter 5 𝑐𝑚 and mass 0.5 𝑘𝑔 are placed
with their centres at the corners of a square of side 4 𝑐𝑚. If the moment
of inertia of the system about the diagonal of the square is
𝑁 × 10−4 𝑘𝑔 𝑚2 , then 𝑁 is

Solution : 𝑎 = 4 𝑐𝑚 = 4 × 10−2 𝑚
JEE 2011

𝑑 5 5
𝑟= = 𝑐𝑚 = × 10−2 𝑚
2 2 2

𝐼𝑠𝑦𝑠 = 𝐼1 + 𝐼2 + 𝐼3 + 𝐼4

= 𝐼1 + 𝐼3 + 𝐼2 + 𝐼4

2
2 𝑎 2
= 2 𝑚𝑟 2 + 𝑚 +2 𝑚𝑟 2
5 2 5

= 9 × 10−4 𝑘𝑔 𝑚2

𝑁=9
 Radius of Gyration

Distance (𝐾) from the Axis of Rotation, where the whole mass of the rigid body can
be assumed to be concentrated as a point mass such that the MOI of the point mass
is the same as that of the rigid body (𝐼).

𝐼 = 𝑀𝐾 2

𝑀
≡ 𝐾=
𝐼
𝐾 𝑀
𝑀

𝐼 𝐼
 A thin disc of mass 𝑀 and radius 𝑅 has mass per unit area 𝜎 𝑟 = 𝑘𝑟 2 , where 𝑟 is
the distance from its centre. Its radius of gyration about an axis through its
centre of mass and perpendicular to its plane is

Solution : Mass of the disc is given by, MOI of the disc about an axis passing through COM and
perpendicular to its plane is given by,
𝑅
𝑅
𝑀 = න 𝜎 𝑟 𝑑𝐴 2𝑅2 𝜋𝑘𝑅4
2
0
𝐼𝐶 = න 𝑟 𝑑𝑚 ⇒ 𝐼𝐶 = ×
3 2
0
𝑅

𝑀 = න 𝑘𝑟 2 × 2𝜋𝑟𝑑𝑟 𝑅 2𝑀𝑅2
⇒ 𝐼𝐶 =
0 𝐼𝐶 = න 𝑟 2 × 𝑘𝑟 2 × 2𝜋𝑟𝑑𝑟 3
0
𝑅
3 Now, 𝐼𝐶 = 𝑀𝐾 2
𝑀 = 2𝜋𝑘 න 𝑟 𝑑𝑟 𝑅

0 𝐼𝐶 = 2𝜋𝑘 න 𝑟 5 𝑑𝑟
0 2
𝑟 4 𝑅 ⇒𝐾= 𝑅
𝑀 = 2𝜋𝑘 3
4 0
𝜋𝑘𝑅6
𝐼𝐶 =
3

𝜋𝑘𝑅4
𝑀=
2
 Pure Rotational Motion

A rigid body in motion, such that its axis of rotation remains

fixed with respect to the frame of reference performs pure
rotational motion, e. g., a hinged rod.

𝜏Ԧℎ𝑖𝑛𝑔𝑒 = 𝐼ℎ𝑖𝑛𝑔𝑒 𝛼Ԧ (Newton’s 2nd law for Rotation)

Where,
𝐼ℎ𝑖𝑛𝑔𝑒 = moment of inertia about hinge
𝛼 = angular acceleration of the body
 A solid sphere of mass 2 𝑘𝑔 and radius 1 𝑚 is free to rotate about an axis
passing through its centre. Find a constant tangential force 𝐹 to be
applied at the surface of the sphere to make it achieve an angular
speed of 10 𝑟𝑎𝑑/𝑠 in 2 𝑠. Also find the number of rotations made by the
sphere in that time interval.
Solution :
Given 𝑀 = 2 𝑘𝑔, 𝑅 = 1 𝑚, 𝜔 = 10 𝑟𝑎𝑑/𝑠 𝑎𝑛𝑑 𝑡 = 2 𝑠

Value of 𝑭 Number of revolutions

5
𝜔 = 𝜔0 + 𝛼𝑡 = 0 + 2𝛼 = 10 𝑟𝑎𝑑 𝑠 −1
a. 4 𝑁,
The angle rotated is, 𝜋

𝛼 = 5 𝑟𝑎𝑑/𝑠 2
1 1
𝜃 = 𝛼𝑡 2 = 5 22 = 10 𝑟𝑎𝑑
2 2
𝜏 𝐹×𝑅 5𝐹
𝛼= = =
𝐼 2 𝑀𝑅 2 2𝑀𝑅
5 Number of rotations,

5𝐹
⇒ =5
2𝑀𝑅 𝜃 10
𝑛= =
2𝜋 2𝜋
5
(2)(2)(1)(5) 𝑛=
𝐹= 𝐹 =4𝑁 𝜋
5
 Rotational Kinetic Energy

Rotational kinetic energy for a body rotating

about a fixed axis is calculated as- Fixed axis of
rotation
1 𝜔
(𝐾𝐸)𝑟𝑜𝑡 = ෍ 𝑚𝑖 𝑣𝑖 2
2

1
= ෍ 𝑚𝑖 (𝜔𝑟𝑖 )2
2 Hinge 𝑣3
𝑣1 𝑣2
1 2
= 𝜔 ෍ 𝑚𝑖 𝑟𝑖 2
2

1 2
(𝐾𝐸)𝑟𝑜𝑡 = 𝜔 𝐼𝐻𝑖𝑛𝑔𝑒
2
1
Rotational kinetic energy = 𝐼𝐻𝑖𝑛𝑔𝑒 𝜔2
2
 Pure Rotational Motion

Radial 2
𝑚𝑣𝐶𝑀 Fixed axis of
෍ (𝐹Ԧ𝑒𝑥𝑡 )𝑟 = 𝑚𝜔2 𝑟𝐶𝑀 = rotation
𝑟𝐶𝑀
𝜔
෍(𝐹Ԧ𝑒𝑥𝑡 )𝑠𝑦𝑠 = 𝑚𝑎Ԧ 𝐶𝑀

𝑑𝑣𝐶𝑀
෍ (𝐹Ԧ𝑒𝑥𝑡 )𝑡 = 𝑚 = 𝑚𝛼𝑟𝐶𝑀
Tangential 𝑑𝑡 𝑎𝑟 COM
𝑟𝐶𝑀

For a body performing pure rotational motion- 𝑑𝑣𝐶𝑀

𝑎Ԧ 𝐶𝑀 𝑎𝑡 =
𝑑𝑡
𝜏Ԧℎ𝑖𝑛𝑔𝑒 = 𝐼ℎ𝑖𝑛𝑔𝑒 𝛼Ԧ

1
Total KE = Rotational KE = 𝐼𝐻𝑖𝑛𝑔𝑒 𝜔2
2
 Work done by a Torque

If a torque 𝜏Ԧ rotates a body through infinitesimal

displacement 𝑑𝜃, Ԧ then the infinitesimal work done is

𝑑𝑊 = 𝜏Ԧ ∙ 𝑑𝜃Ԧ

If 𝜏Ԧ and 𝑑𝜃Ԧ are in the same direction, then

𝑑𝑊 = 𝜏𝑑𝜃
𝜃2 𝑑𝜃
𝜏
⇒ 𝑊 = න 𝑑𝑊 = න 𝜏 𝑑𝜃
𝜃1

If a constant torque 𝜏 acts on the body, then

𝑊 = 𝜏 𝜃2 − 𝜃1

⇒ 𝑊 = 𝜏∆𝜃
 A circular disc and a hollow sphere of same mass are rotated about
their COM axes as shown. The radius of disc is three times the radius of
hollow sphere and disc rotates with half the angular velocity of the
hollow sphere. What will be the ratio of their kinetic energies?
Solution :
Mass of the disc 𝑚𝑑 = 𝑀 (Assume) Rotational kinetic energy of the disc,

Mass of the hollow sphere 𝑚𝑠 = 𝑀 1

𝐾𝐸 𝑑 = 𝐼𝑑 𝜔𝑑2
2
Radius of the hollow sphere 𝑟𝑠 = 𝑅 (Assume)
1 𝑀× 3𝑅 2 9
= × × 𝜔2 = 𝑀𝑅2 𝜔2
2 2 4
Radius of the disc 𝑟𝑑 = 3𝑅

Rotational kinetic energy of the hollow sphere,

Angular velocity of the disc 𝜔𝑑 = 𝜔 (Assume)

1 1 2 4
Angular velocity of the hollow sphere 𝜔𝑠 = 2𝜔 𝐾𝐸 𝑠 = 𝐼𝑠 𝜔𝑠2 = 2 × 𝑀𝑅2 × 2𝜔 2
= 𝑀𝑅2 𝜔2
2 3 3

Ratio of 𝐾𝐸 𝑑 to 𝐾𝐸 𝑠 ,

9
𝐾𝐸 𝑀𝑅2 𝜔2 27
𝑑
= 4 =
𝐾𝐸 𝑠 4 2 2 16 𝐾𝐸 𝑑 27
3 𝑀𝑅 𝜔 =
𝐾𝐸 𝑠 16
 A mass 𝑚 is supported by a massless string wound around a uniform
hollow cylinder of mass 𝑚 and radius 𝑅. If the string does not slip on the
cylinder, with what acceleration will the mass fall on release?
Solution :
JEE Main 2014
For the mass 𝑚, 𝑎 = 𝑅𝛼 … 1

𝑚𝑔 − 𝑇 = 𝑚𝑎 𝑚𝑔 − 𝑇 = 𝑚𝑅𝛼 … 2

Since the string does not slip on the hollow cylinder, 𝑇 = 𝑚𝑅𝛼 … 3

𝑎 = 𝑅𝛼 … 1
Upon solving the equations, we get,

⇒ 𝑚𝑔 − 𝑇 = 𝑚𝑅𝛼 … 2
𝑚𝑔 = 2𝑚𝑅𝛼

Torque about the centre of the hollow cylinder,

𝑔 = 2𝑎

𝑅𝑇 = 𝐼𝛼 = 𝑚𝑅2 𝛼
𝑔
𝑎=
⇒ 𝑇 = 𝑚𝑅𝛼 … 3 2
 Centre of Gravity

• The centre of gravity (𝐺) of a body is the point at which the total
gravitational torque on the body is zero.
𝑟𝑛
𝐺
𝑟2
𝑟1
• 𝜏Ԧ𝑔 = σ 𝜏Ԧ𝑖 = σ 𝑟Ԧ𝑖 × 𝑚𝑖 𝑔Ԧ = 𝟎

• The COG and COM of a rigid body coincide when the gravitational field is 𝑚1 𝑔
uniform across the body. 𝑚2 𝑔
𝑚𝑛 𝑔

Angular Momentum
Angular momentum is the rotational analogue • Axial vector
of linear momentum. It is also called moment
of linear momentum. • Always perpendicular to the plane of 𝑟Ԧ and 𝑝.
Ԧ

𝐿𝑂 = 𝑟Ԧ × 𝑝Ԧ ∵ 𝑝Ԧ = 𝑚𝑣Ԧ • SI unit: 𝑘𝑔 𝑚2 /𝑠

= 𝑚(𝑟Ԧ × 𝑣)
Ԧ
 A particle of mass 20 𝑔 is released with an initial velocity 5 𝑚/𝑠 along the
curve from the point 𝐴 as shown. The point 𝐴 is at height ℎ from point 𝐵.
The particle slides along the frictionless surface. When the particle
reaches point 𝐵, its angular momentum about 𝑂 will be
(Take, 𝑔 = 10 𝑚/𝑠 2 )
Solution :

Since friction is absent, the Angular momentum of the particle

mechanical energy of the particle about point 𝑂,
remains constant.

1 1
𝑚𝑣𝐴2 = 𝑚𝑣𝐵2 − 𝑚𝑔ℎ 𝐿𝑂 = 𝑚𝑣𝐵 𝑎 + ℎ
2 2

𝑣𝐵2 = 𝑣𝐴2 + 2𝑔ℎ = 20 × 10−3 × 15 × 10 + 10

= 52 + 2 10 10 𝐿𝑂 = 6 𝑘𝑔 𝑚2 /𝑠

𝑣𝐵 = 15 𝑚/𝑠
 Angular Momentum of a System of Particles

The total angular momentum of a

system of particles follows the
principle of superposition.
𝑃2
𝑧 𝑣𝑛
𝑃𝑛
𝐿𝑠𝑦𝑠𝑡𝑒𝑚,𝑂 = 𝐿1,𝑂 + 𝐿2,𝑂 + 𝐿3,𝑂 … … 𝐿𝑛,𝑂 𝑦
𝑛 𝑣2
𝑟𝑛
= ෍ 𝐿𝑖,𝑂 𝑟2
𝑖=1 𝑣1
𝑛
𝑟1
𝑃1
= ෍(𝑟Ԧ𝑖 × 𝑝Ԧ𝑖 )𝑂
𝑂
𝑖=1
𝑥
𝑛

𝐿𝑠𝑦𝑠𝑡𝑒𝑚,𝑂 = ෍ 𝑚𝑖 (𝑟Ԧ𝑖 × 𝑣Ԧ𝑖 )𝑂

𝑖=1
 Angular Momentum of a Rigid Body

𝐿𝑠𝑦𝑠,𝑂 = ෍ 𝑚𝑖 (𝑟Ԧ𝑖 × 𝑣Ԧ𝑖 ) 𝐼𝑎𝑥𝑖𝑠

𝑖=1
𝜔
= ෍ (𝑟⊥ )(𝑝) 𝑖
𝑚𝑛
𝑟𝑛
𝑚1
= ෍(𝑟⊥ 𝑚𝑣)𝑖 𝑟2
∵ 𝑣 = 𝑟⊥ 𝜔 𝑟1 𝑚2
𝑂

= 𝜔 ෍(𝑚𝑟⊥ 2 )𝑖

𝐿𝑠𝑦𝑠 = 𝐼𝑂 𝜔

(𝐿𝑠𝑦𝑠 )𝑎𝑥𝑖𝑠 = 𝐼𝑎𝑥𝑖𝑠 𝜔

 Translational vs Rotational Dynamics

Translational Rotational

Applied force causes change in linear The application of torque causes change
momentum of the centre of mass. in angular momentum of a rigid body at
that instant of time.

𝑑𝑝Ԧ𝑠𝑦𝑠 𝑑𝐿𝑎𝑥𝑖𝑠
෍(𝐹Ԧ𝑠𝑦𝑠 )𝑒𝑥𝑡 = ෍(𝜏Ԧ𝑒𝑥𝑡 )𝑎𝑥𝑖𝑠 =
𝑑𝑡 𝑑𝑡

𝑑(𝑚𝑣)
Ԧ 𝑠𝑦𝑠 𝑑 𝐼𝑎𝑥𝑖𝑠 𝜔
= =
𝑑𝑡 𝑑𝑡

෍(𝐹𝑠𝑦𝑠 )𝑒𝑥𝑡 = 𝑚𝑎Ԧ 𝑠𝑦𝑠 ෍(𝜏Ԧ𝑒𝑥𝑡 )𝑎𝑥𝑖𝑠 = 𝐼𝑎𝑥𝑖𝑠 𝛼Ԧ

Force is the rate of change of Torque is the rate of change of

linear momentum. angular momentum.
 Conservation of Angular Momentum

When the net torque acting on a system is zero about a given axis, then the total
angular momentum of the system about that axis remains constant.

If ෍ 𝜏Ԧ𝑒𝑥𝑡 𝑎𝑥𝑖𝑠 =𝟎

𝑑
෍ (𝐿𝑎𝑥𝑖𝑠 ) = 𝟎
𝑑𝑡

𝐿𝑎𝑥𝑖𝑠 = constant

Law of conservation of angular momentum is conditional and depends on axis.

 A boy of mass 𝑀 stands at the edge of a platform of radius 𝑅 that can
be freely rotated about its axis. The moment of inertia of the platform is
𝐼. The system is at rest when a friend throws a ball of mass 𝑚 and the
boy catches it. If the speed of the ball was 𝑣 and was moving
horizontally along the tangent to the edge of the platform when it was
caught by the boy, find the angular speed of the platform after the
event.
Solution : ෍(𝜏)
Ԧ 𝑒𝑥𝑡 = 0

On “Platform + Boy + Ball” about axle,

𝐿𝑖 = 𝐿𝑓 (about the axle)

𝑚𝑣𝑅 + 0 = 𝐼 + 𝑀 + 𝑚 𝑅2 𝜔

𝑚𝑣𝑅
𝜔=
𝐼 + 𝑀 + 𝑚 𝑅2
 A thin smooth rod of length 𝐿 and mass 𝑀 is rotating freely with
angular speed 𝜔0 about an axis perpendicular to the rod and passing
through its centre. Two beads of mass 𝑚 and negligible size are at the
centre of the rod initially. The beads are free to slide along the rod. The
angular speed of the system, when the beads reach the opposite ends
of the rod, will be

Solution : Applying the conservation of angular momentum,

𝐼𝑖 𝜔𝑖 = 𝐼𝑓 𝜔𝑓

2 2
𝑀𝐿2 𝑀𝐿2 𝐿 𝐿
𝜔0 = +𝑚 +𝑚 𝜔
12 12 2 2

𝑀𝐿2 𝜔0 = 𝑀𝐿2 + 6𝑚𝐿2 𝜔

𝑀𝜔0
𝜔=
𝑀 + 6𝑚
 A cubical block of side 𝑎 is moving with velocity 𝑣 on a horizontal
smooth plane as shown in the figure. It hits a ridge at point 𝑂. The
angular speed of the block after it hits 𝑂 is
Solution :

Say, 𝑀 is the mass of the block

Net torque about 𝑂 is zero. Thus, angular momentum about 𝑂 is conserved.

𝑀𝑣𝑎 𝑀𝑎2 𝑎2 𝑀𝑣𝑎 2𝑀𝑎2

𝐿𝑖 = 𝐿𝑓 = +𝑀 𝜔⇒ = 𝜔
2 6 2 2 3
𝑎
⇒ 𝑀𝑣 = 𝐼0 𝜔 = 𝐼𝐶𝑀 + 𝑀𝑟 2 𝜔
2
𝑎 3𝒗
𝑀𝑣 = 𝐼𝐶𝑀 + 𝑀𝑟 2 𝜔 𝜔=
2 4𝑎
 Angular Impulse

When a rigid body is acted upon by an external torque for a short interval
of time, it experiences a sudden change in the angular momentum
known as angular impulse.

𝑡2 𝐿2
𝑑𝐿
𝐽Ԧ = න 𝜏Ԧ 𝑑𝑡 = න 𝑑𝐿 ∵ 𝜏Ԧ =
𝑡1 𝐿1 𝑑𝑡

Like every other rotational parameter, angular impulse 𝐽Ԧ is also defined

about an axis.
 A rod of mass 2 𝑘𝑔 and length 5 𝑚 is placed on a frictionless horizontal
plane hinged about one of its ends. At the other end, a force
𝐹 = 20 𝑁 is applied for 0.1 𝑠 as shown. Find the angular speed just after
the force is applied.

Solution : Only force perpendicular to the length of rod will contribute to

change in angular momentum.

𝐽 = ∆𝐿 = 𝜏𝑒𝑥𝑡 ∆𝑡

1
𝜏𝑒𝑥𝑡 = 𝐹 cos 600 × 𝑙 = 20 5 = 50 𝑁𝑚
2

∆𝐿 = 𝐼∆𝜔 = 𝜏𝑒𝑥𝑡 ∆𝑡

𝜏𝑒𝑥𝑡 ∆𝑡 3𝜏𝑒𝑥𝑡 ∆𝑡 𝑚𝑙2

⇒ ∆𝜔 = 𝜔 = = ∵𝐼=
𝐼 𝑚𝑙2 3

3 50 0.1
𝜔= ⇒ 𝜔 = 0.3 𝑟𝑎𝑑/𝑠
2 5 2
 Analysis of Combined Motion

Combined motion is divided into its pure rotational and pure translational counterparts for ease.

Velocity of point 𝐴 on the rigid body w.r.t. origin 𝑂 in the figure is given by,

𝑣Ԧ𝐴 = 𝑣Ԧ𝐵 + 𝜔 × 𝑟Ԧ

Pure translation Pure rotation

𝑎Ԧ𝐴 = 𝑎Ԧ 𝐵 + 𝛼Ԧ × 𝑟Ԧ
 Combined Motion

The velocities and accelerations of various points of a

circular rigid body in combined motion are as shown.

𝑣 + 𝜔𝑟 𝑎𝑐𝑚 + 𝛼𝑟

𝜔𝑟 𝜔 𝛼𝑟 𝛼
𝑣 𝑣 𝑎𝑐𝑚 𝑎𝑐𝑚

𝑟 𝜔𝑟 𝑟 𝛼𝑟

𝜔𝑟 𝑣 𝛼𝑟 𝑎𝑐𝑚
 Total Kinetic Energy

The KE of a rigid body in combined motion is

obtained by summing the KEs of its rotational 𝑥 Solid Sphere
and translational counterparts.

𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = 𝐾𝐸𝑟𝑜𝑡 + 𝐾𝐸𝑡𝑟𝑎𝑛𝑠 𝜔

𝑣0
1 2
1 2
𝑅 𝐶𝑂𝑀
𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = 𝐼𝐶𝑂𝑀 𝜔 + 𝑚𝑣𝐶𝑂𝑀
2 2

• For a solid sphere of radius 𝑅 rolling with

angular velocity 𝜔 and linear speed of 𝑣0 as 𝑦
shown
1 2 1
𝐾𝐸𝑠𝑝ℎ𝑒𝑟𝑒 = × 𝑚𝑅 𝜔 + 𝑚𝑣02
2 2
2 5 2
𝑚
𝐾𝐸𝑠𝑝ℎ𝑒𝑟𝑒 = 2𝑅2 𝜔2 + 5𝑣02
10
 A cylinder of mass 2 𝑘𝑔 and radius 2 𝑚 is given a kinetic energy of 150 𝐽
and it rolls on a plane as shown. Angular speed of the cylinder is 5 𝑟𝑎𝑑/𝑠.
Find the linear speed of the cylinder.

Solution : Total Kinetic energy of the solid cylinder is given by,

1 1 2
𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = 𝐼𝐶𝑂𝑀 𝜔2 + 𝑚𝑣𝐶𝑂𝑀
2 2

1 𝑚𝑅 2 2 1 2
𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = . . 𝜔 + 𝑚𝑣𝐶𝑂𝑀
2 2 2

1 2
𝑚𝑅 2 𝜔2
𝑚𝑣𝐶𝑂𝑀 = 𝐾𝐸𝑡𝑜𝑡𝑎𝑙 −
2 4

2
2𝐾𝐸𝑡𝑜𝑡𝑎𝑙 𝑅 2 𝜔2 2 × 150 2 2 5 2
𝑣𝐶𝑂𝑀 = − = −
𝑚 2 2 2

2
𝑣𝐶𝑂𝑀 = 150 − 50 = 100 ⇒ 𝒗𝑪𝑶𝑴 = 𝟏𝟎 𝒎𝒔−𝟏
 Total Angular Momentum

The total angular momentum of a rigid Solid Sphere

body about an axis is obtained by adding 𝑥
the angular momenta of (i) the body w.r.t.
COM and (ii) COM w.r.t. the desired axis.
𝜔
𝑣0
𝐿𝑂 = 𝐿𝑠𝑦𝑠,𝐶𝑀 + 𝐿𝐶𝑀, 𝑂
𝐶𝑂𝑀
𝑟0
𝐿𝑂 = 𝐼𝐶𝑀 𝜔 + 𝑟Ԧ𝐶𝑀 × 𝑚𝑣Ԧ𝐶𝑀 𝑂
𝑟0 sin 𝜃
𝜃
𝑂 𝑦
• For a solid sphere of radius 𝑅 rolling with
angular velocity 𝜔 and linear speed of 𝑣0 as
shown
2
𝐿𝑠𝑝ℎ𝑒𝑟𝑒 = 𝑚𝑅2 𝜔 + 𝑚𝑣0 𝑟0 sin 𝜃
5
 A solid cylinder of mass 5 𝑘𝑔 and radius 2 𝑚 is rolling on the ground
with translational speed of 30 𝑚/𝑠 and angular speed of 10 𝑟𝑎𝑑/𝑠 at the
instant considered. What will be the magnitude of its angular
momentum w.r.t. an observer sitting in the apartment at the height of
6 𝑚.
Solution :

Mass of the solid cylinder, 𝑚 = 5 𝑘𝑔

Radius of the solid cylinder, 𝑟 = 2 𝑚

Angular velocity, 𝜔 = 10 𝑟𝑎𝑑/𝑠

Perpendicular distance of observer from

the line of motion of COM, 𝑟 ′ = 4 𝑚

From the definition of total angular

momentum, 1
𝐿0 = − × 5 × 22 × 10 + 5 × 30 × 4
𝐿𝑂 = 𝐼𝐶𝑀 𝜔 + 𝑟Ԧ𝐶𝑀 × 𝑚𝑣Ԧ𝐶𝑀 𝑂 2

𝐿𝑂 = 𝐼𝐶𝑀 𝜔 + 𝑚𝑣𝐶𝑀 𝑟𝐶𝑀 sin 𝜃

𝐿0 = 𝟓𝟎𝟎 𝑘𝑔 𝑚2 /𝑠
1
𝐿0 = − 𝑚𝑟 2 𝜔 + 𝑚𝑣𝐶𝑀 𝑟 ′
2
 Dynamics of Rigid Body Motion

Pure Rotation

The best choice of axis is the one passing through the

fixed axis (hinge).

Free Rotation

The best choice of axis is the one passing through the

COM (parallel to the angular acceleration)
 Pure Rolling

• Particles of the wheel follow a path/loci called cycloid.

• The displacement of the COM in one full rotation is 2𝜋𝑟,

where 𝑟 is the radius of the wheel.

• The instantaneous velocity of the point in contact with

the road is zero. (No relative motion/pure rolling)

• Despite the instantaneous contact When the ground is at rest,

In the case of pure rolling, 𝑣𝑃 = 𝑣𝑄 point being stationary, the wheel 𝑣𝐶𝑀 < 𝜔𝑟 Backward Slipping
continues rolling without slipping due
If the ground is at rest, 𝑣𝑄 = 0 to its ongoing rotational motion.
𝑣𝐶𝑀 = 𝜔𝑟 Pure Rolling

⇒ 𝑣𝑃 = 𝑣𝐶𝑀 − 𝜔𝑅 = 0 𝑣𝐶𝑀 = 𝜔𝑅
• The centripetal acceleration is same at
all points on the periphery equal to 𝜔2 𝑅. 𝑣𝐶𝑀 > 𝜔𝑟 Forward Slipping
 Instantaneous Axis of Rotation

Instantaneous Axis of Rotation concept

helps us to treat the case of combined
motion as a case of pure rotational motion.

1 1
1 1 𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = 𝐼𝐼𝐴𝑂𝑅 𝜔2 = 𝐼𝐶𝑀 + 𝑚𝑟 2 𝜔2
𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = 𝑚𝑣 2 + 𝐼𝐶𝑀 𝜔2 2 2
2 2 1 1
1 1 1 = 𝑚𝑟 2 + 𝑚𝑟 2 𝜔2
= 𝑚𝑣 2 + 𝑚𝑟 2 𝜔2 2 2
2 2 2
3
3 𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = 𝑚𝑣 2
𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = 𝑚𝑣 2 4
4
 Velocities of various points

The velocities of various points of a circular rigid body in

combined motion are as shown.

𝑣 + 𝜔𝑟 2𝑣

2𝑣 𝜔
𝜔𝑟 𝜔
𝑣 𝑣

𝑟 𝜔𝑟 𝑟
2𝑣

𝜔𝑟 𝑣 𝑣=0

Pure rolling 𝑣 = 𝜔𝑟
 A sphere is rolling without slipping on a fixed horizontal plane surface.
In the figure, 𝐴 is point of contact, 𝐵 is the center of sphere and 𝐶 is the
topmost point. Then,

Solution : Say, V0 is the velocity of the sphere. Then,

𝑉𝐴 = 0 𝑉𝐵 = V0 𝑉𝐶 = 2V0

𝑉𝐶 − 𝑉𝐴 = 2V0

𝑉𝐵 − 𝑉𝐶 = V0 − 2V0 = −V0

𝑉𝐵 − 𝑉𝐴 = V0

𝑉𝐶 − 𝑉𝐴 = 2V0 ≠ 2 𝑉𝐵 − 𝑉𝐶 𝑂𝑝𝑡𝑖𝑜𝑛 𝑎. 𝑖𝑠 𝑖𝑛𝑐𝑜𝑟𝑟𝑒𝑐𝑡

𝑉𝐶 − 𝑉𝐵 = V0 = 𝑉𝐵 − 𝑉𝐴 𝑂𝑝𝑡𝑖𝑜𝑛 𝑏. 𝑖𝑠 𝑐𝑜𝑟𝑟𝑒𝑐𝑡

𝑉𝐶 − 𝑉𝐴 = 2𝑉0 = 2 𝑉𝐵 − 𝑉𝐶 𝑂𝑝𝑡𝑖𝑜𝑛 𝑐. 𝑖𝑠 𝑐𝑜𝑟𝑟𝑒𝑐𝑡

𝑉𝐶 − 𝑉𝐴 = 2𝑉0 ≠ 4 𝑉𝐵 𝑂𝑝𝑡𝑖𝑜𝑛 𝑑. 𝑖𝑠 𝑖𝑛𝑐𝑜𝑟𝑟𝑒𝑐𝑡

 Kinetic Energy (Pure Rolling)

𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = 𝐾𝐸𝑟𝑜𝑡 + 𝐾𝐸𝑡𝑟𝑎𝑛𝑠

𝜔
1 1
= 𝐼𝐶𝑀 𝜔 + 𝑚𝑣 2
2
2 2
𝑚, 𝐼𝐶𝑀 𝑣
1 2
1 2
= 𝐼𝐶𝑀 𝜔 + 𝑚 𝜔𝑟
2 2

1
= 𝐼𝐶𝑀 + 𝑚𝑟 2 𝜔2
2

𝐾𝐸𝑟𝑜𝑡 𝐼𝐶𝑀
=
𝐾𝐸𝑡𝑟𝑎𝑛𝑠 𝑚𝑟 2
 A circular disc of mass 2 𝑘𝑔 and radius 10 𝑐𝑚 rolls without slipping with
a speed 2 𝑚/𝑠. The total kinetic energy of disc is
Solution :
1
𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = 𝐼𝐶𝑀 + 𝑚𝑟 2 𝜔2
2

1 1 𝑣 2
𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = 𝑚𝑟 2 + 𝑚𝑟 2
2 2 𝑟

1 3 2
𝑣2 3
𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = . 𝑚𝑟 2
= 𝑚𝑣 2
2 2 𝑟 4

3 2
𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = 2 2 =6𝐽
4

𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = 6 𝐽
 Accelerated Pure Rolling

𝛼
𝜔

𝑎
𝐶

For the centre of mass of rigid body in pure rolling motion,

𝑑𝑣𝐶𝑀 𝑑 𝑟𝜔
𝑎𝐶𝑀 = =
𝑑𝑡 𝑑𝑡

𝑑𝜔
=𝑟
𝑑𝑡
𝑎𝐶𝑀 = 𝑟𝛼
 Acceleration of various points

The acceleration of various points of a circular rigid body

in combined motion are as shown. (Ground frame)

𝑎 + 𝛼𝑟

𝜔2 𝑟
𝛼, 𝜔
𝛼𝑟
𝑎 + 𝜔2 𝑟 𝜔2 𝑟 𝑎

𝑟
𝜔2 𝑟
𝛼𝑟

𝛼𝑟 𝑎

𝑎 = 𝛼𝑟 Pure rolling
 A solid sphere of mass 10 𝑘𝑔 is placed on a rough surface having coefficient of friction 𝜇 =
0.1. A constant force 𝐹 = 7 𝑁 is applied along a line passing through the centre of the
sphere as shown such that it rolls without slipping. The value of frictional force on the
sphere is
Solution :
Maximum value of kinetic friction,

𝑓𝑚𝑎𝑥 = 𝜇𝑚𝑔 = 10 𝑁

Equation for the translational motion,

𝐹 − 𝑓 = 𝑚𝑎 7
𝑓= 2
5 ∵ 𝐼 = 𝑀𝑅2
1+ 5
𝐹 − 𝑓 = 𝑚𝛼𝑅 … 1 ∵ Assuming pure rolling 2

Equation for the rotational motion, = 2 𝑁 < 𝑓𝑚𝑎𝑥

𝑓𝑅 = 𝐼𝛼

𝑓𝑅 𝑓 =2𝑁
𝛼= … 2
𝐼

𝑓𝑚𝑅2 𝐹
𝐹−𝑓 = 𝑓=
𝑚𝑅2
𝐼 1+
𝐼
 Pure Rolling on an Inclined Plane

For a body rolling w/o slipping on

a rough wedge,
𝑢 = 0 ; 𝜔0 = 0

Linear and angular acceleration of

the body are constant.

𝑣 = 𝑢 + 𝑎𝑡 = 𝑎𝑡

𝜔 = 𝜔0 + 𝛼𝑡 = 𝛼𝑡
 No force other than friction
At all instances of pure rolling, induces torque in the body about
the COM.
𝑣 = 𝜔𝑅
 In order to begin (and maintain)
𝑎𝑡 = 𝛼𝑡𝑅 pure rolling, frictional force will act
in the upward direction of the
incline.
𝑎 = 𝛼𝑅
 A rigid body of mass 𝑚, radius 𝑅, and moment of inertia 𝐼 starts pure
rolling on a wedge of height ℎ as shown. Find out the time taken by the
body to reach the bottom of the inclined plane. 𝐾 is the radius of
gyration of the body about the axis passing through its COM. (𝐼 = 𝑀𝐾 2 )
Solution :
Force equation for the Time taken in reaching the bottom
rolling body,
𝑚𝑔 sin 𝜃 − 𝑓 = 𝑚𝑎 1
𝑑 = 𝑢𝑡 + 𝑎𝑡 2
2
Torque equation for the
rolling body,
ℎ 1 𝑔 sin 𝜃
=0+ × × 𝑡2
𝑓𝑅 = 𝐼𝛼 sin 𝜃 2 1+ 𝐼
𝑚𝑅 2
𝐼𝑎
𝑓= 2 ∵ 𝑎 = 𝛼𝑅
𝑅 𝐼
2ℎ 1 +
𝑚𝑅 2
𝐼𝑎 𝑡2 =
𝑔 sin2 𝜃
𝑚𝑔 sin 𝜃 − 2 = 𝑚𝑎
𝑅

𝑔 sin 𝜃 1 2ℎ 𝐾2
𝑎= 𝑡= 1+ 2
𝐼 sin 𝜃 𝑔 𝑅
1+ ( ∵ 𝐼 = 𝑚𝐾 2 )
𝑚𝑅2
 A solid ball of radius 𝑟 rolls down a parabolic path 𝐴𝐵𝐶 from a height
ℎ >> 𝑟 without slipping as shown in figure. Portion 𝐴𝐵 of the path is
rough while 𝐵𝐶 is smooth. How high will the ball climb in 𝐵𝐶?
Solution :
 A string is wound around a hollow cylinder of mass 5 𝑘𝑔 and radius 0.5 𝑚. If the
string is now pulled with a horizontal force of 40 𝑁 and the cylinder is rolling
without slipping on a frictionless horizontal surface (see figure), then the
angular acceleration of the cylinder will be (Neglect the mass and thickness of
the string)
Solution : Given, 𝑚 = 5 𝑘𝑔, 𝑟 = 0.5 𝑚

As the cylinder is rolling without slipping, horizontal

force 𝐹 produces torque about the centre as shown.

𝜏 = 𝑟𝐹 ∵𝑟⊥𝐹

𝐼𝛼 = 0.5 × 40

𝑚𝑟 2 𝛼 = 20

20
𝛼=
5 × 0.52

𝛼 = 16 𝑟𝑎𝑑 𝑠 −2
 Pure Rolling on an Inclined Plane

• No force other than friction induces torque 𝑁

in the body about the COM.

• In order to begin (and maintain) pure

rolling, frictional force will act in the 𝜃
upward direction of the incline. 𝑚𝑔 cos 𝜃
𝑚𝑔
𝜃
 A hollow spherical shell starting from 𝑂 rolls down a hill. At point 𝐴, the
ball becomes air borne leaving at an angle of 30∘ with the horizontal.
The ball strikes the ground at 𝐵. What is the value of the distance 𝐴𝐵?
Solution :
Since 𝑊𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛 = 0, by applying conservation Horizontal range 𝐴𝐵:
of mechanical energy,
𝑣 2 sin 2𝜃
𝐴𝐵 =
𝐾𝐸𝑇 + 𝐾𝐸𝑅 𝑖 + 𝑈𝑖 = 𝐾𝐸𝑇 + 𝐾𝐸𝑅 𝑓 + 𝑈𝑓 𝑔

1 1 21.6 × sin 2 × 30∘

0 + 0 + 𝑚𝑔ℎ1 = 𝑚𝑣 2 + 𝐼𝜔2 + 𝑚𝑔ℎ2 =
2 2 𝑔

1 1 2 𝑣 2
𝑔 ℎ1 − ℎ2 = 𝑣 2 + × 𝑅2
2 2 3 𝑅 𝐴𝐵 = 1.87 𝑚

𝑣2 𝑣2
𝑔(2 − 0.2) = +
2 3

6 × 1.8 × 10
⇒ 𝑣2 = = 21.6
5
 Forward Slipping

𝑣0 𝑣
𝜔< 𝜔=
𝑟 𝛼 𝑟

𝑣0 𝑎 𝑣
𝑚 𝑚 𝑚
𝑣𝑃 > 0
𝑓𝑘 𝑃 𝑓𝑘 𝑓𝑠 = 0

The sphere is set into Frictional force provides It starts pure rolling and
combined motion (rolling linear deceleration and friction diminishes.
and slipping) angular acceleration
(to initiate pure rolling)
 A solid cylinder having radius 0.4 𝑚, initially rotating with 𝜔0 = 54 𝑟𝑎𝑑/𝑠 is
placed on a rough inclined plane with 𝜃 = 37° having friction coefficient
𝜇 = 0.5. The time taken by the cylinder to start pure rolling is (𝑔 =
10 𝑚/𝑠 2 )
Solution :
Linear acceleration of the cylinder, Pure rolling will start when,

𝑎 = 𝜇𝑔 cos 𝜃 + 𝑔 sin 𝜃
𝑣 = 𝑅𝜔

= 0.5 × 10 cos 37° + 10 sin 37°

𝑎𝑡 = 𝑅 𝜔0 − 𝛼𝑡
𝑎 = 10 𝑚/𝑠 2
10𝑡 = 0.4 54 − 20𝑡
Angular acceleration of the cylinder,
25𝑡 = 54 − 20𝑡
4
𝑓𝑘 𝑅 𝜇𝑚𝑔𝑅 cos 𝜃 2 × 0.5 × 10 × 5
𝛼= = =
𝐼 1 2 0.4
𝑚𝑅
2 𝑡 = 1.2 𝑠

𝛼 = 20 𝑟𝑎𝑑/𝑠 2