ROTATIONAL DYNAMICS Page # 3

1. RIGID BODY :
Rigid body is defined as a system of particles in which distance between each pair of particles
remains constant (with respect to time) that means the shape and size do not change,
during the motion. Eg. Fan, Pen, Table, stone and so on.
Our body is not a rigid body, two blocks with a spring attached between them is also not a
rigid body. For every pair of particles in a rigid body, there is no velocity of seperation or
approach between the particles. In the figure shown velocities of A and B with respect to
 
ground are VA and VB respectively

A
VA sin1
A
A VA cos 1
 1 VA
B B
VBA
VB  2 B
VB sin 2
VB cos 2
If the above body is rigid

r
VA cos 1 = VB cos 2

circular.
VBA = relative velocity of B with respect to A. Si
Note : With respect to any particle of rigid body the motion of any other particle of that rigid body is

Types of Motion of rigid body

sh
Pure Translational Pure Rotational Combined Translational and
Motion Motion Rotational Motion

1.1. Pure Translational Motion :

A body is said to be in pure translational motion if the displacement of each particle is same
ar

 
during any time interval however small or large. In this motion all the particles have same s, v
& a at an instant.
example.
A box is being pushed on a horizontal surface.
H

10
6 6
10
16

   
Vcm  V of any particle, acm  a of any particle
 
Scm  S of any particle
For pure translational motion :-
v
v m2 m2
m1 v m1
v m3 m3
m4 v v m4
m5 vm6 m5 m6
v m8 m8
m7 m7
   
Fext  m1a1  m 2 a2  m3 a 3 .............
 ROTATIONAL DYNAMICS Page # 5

1.3 Combined translation and rotational Motion

A body is said to be in translation and rotational motion if all the particles rotates about an
axis of rotation and the axis of rotation moves with respect to the ground.

2. MOMENT OF INERTIA
Like the centre of mass, the moment of inertia is a property of an object that is related to its
mass distribution. The moment of inertia (denoted by I) is an important quantity in the study
of system of particles that are rotating. The role of the moment of inertia in the study of
rotational motion is analogous to that of mass in the study of linear motion. Moment of inertia
gives a measurement of the resistance of a body to a change in its rotaional motion. If a body
is at rest, the larger the moment of inertia of a body the more difficuilt it is to put that body
into rotational motion. Similarly, the larger the moment of inertia of a body, the more difficult
to stop its rotational motion. The moment of inertia is calculated about some axis (usually the
rotational axis).
Moment of inertia depends on :
(i) density of the material of body
(ii) shape & size of body
(iii) axis of rotation
In totality we can say that it depends upon distribution of mass relative to axis of rotation.

r
Note :
Moment of inertia does not change if the mass :

2.1 Moment of Inertia of a Single Particle

For a very simple case the moment of inertia of a
single particle about an axis is given by,
Si
(i) is shifted parallel to the axis of the rotation
(ii) is rotated with constant radius about axis of rotation
r

I = mr2 ...(i)
sh
Here, m is the mass of the particle and r its distance from the axis under consideration.
2.2 Moment of Inertia of a System of Particles
The moment of inertia of a system of particles about an axis is given by,
2
I= m r ...(ii)
ar

ii
i
r1
m1
r2
m2
H

r3
m3

where ri is the perpendicular distance from the axis to the ith particle, which has a mass mi.
Ex.1 Two heavy particles having masses m1 & m2 are situated in a plane perpendicular to
line AB at a distance of r1 and r2 respectively.
C A

r1 r2
E F
m1 m2

D B
(i) What is the moment of inertia of the system about axis AB?
(ii) What is the moment of inertia of the system about an axis passing through m1
and perpendicular to the line joining m1 and m2 ?
(iii) What is the moment of inertia of the system about an axis passing through m1
and m2?
 ROTATIONAL DYNAMICS Page # 7

2.3 Moment of Inertia of Rigid Bodies

For a continuous mass distribution such as found
in a rigid body, we replace the summation of
2
I m r
i
ii by an integral. If the system is divided

r
into infinitesimal element of mass dm and if r is
the distance from a mass element to the axis of
rotation, the moment of inertia is,
2
I= r dm

where the integral is taken over the system.

(A) Uniform rod about a perpendicular bisector

Consider a uniform rod of mass M and length l figure and suppose the moment of inertia is to
be calculated about the bisector AB. Take the origin at the middle point O of the rod. Consider
the element of the rod between a distance x and x + dx from the origin. As the rod is uniform,
Mass per unit length of the rod = M / l A
x dx

r
so that the mass of the element = (M/l)dx.
The perpendicular distance of the element from 0
the line AB is x. The moment of inertia of this
element about AB is

dI 
M
l
dx x 2 .
Si B

When x = – l/2, the element is at the left end of the rod. As x is changed from – l/2 to l/2, the
sh
elements cover the whole rod.
Thus, the moment of inertia of the entire rod about AB is

l /2 l /2
M 2  M x3  Ml 2
I
 l
x dx   
 l 3 

12
ar

l / 2 –l / 2

(B) Moment of inertia of a rectangular plate about a line parallel to an edge and passing
through the centre
H

The situation is shown in figure. Draw a line parallel to AB at a distance x from it and another
at a distance x + dx. We can take the strip enclosed between the two lines as the small
element.
A x

B dx
l
It is “small” because the perpendiculars from different points of the strip to AB differ by not
more than dx. As the plate is uniform,
M
its mass per unit area =
bl
M M
Mass of the strip = b dx  dx .
bl l
 ROTATIONAL DYNAMICS Page # 9

(F) Moment of inertia of a uniform solid cylinder about its axis

Let the mass of the cylinder be M and its radius R. Draw two cylindrical surface of radii x and
x + dx coaxial with the given cylinder. Consider the part of the cylinder in between the two
surface. This part of the cylinder may be considered to be a hollow cylinder of radius x. The
area of cross-section of the wall of this hollow cylinder is 2 x dx. If the length of the cylinder
is l, the volume of the material of this elementary hollow cylinder is 2 x dxl.
The volume of the solid cylinder is  R2 l and it is uniform, hence its mass per unit volume is

M

 R2 l
The mass of the hollow cylinder considered is

M 2M
2 x dx l  x dx .
 R2 l R2
dx
As its radius is x, its moment of inertia about the given axis is
x
 2M 
dI   2 xdx x 2 .
R 

r
The moment of inertia of the solid cylinder is, therefore,

(G)
I
R

R
0
2M
2
x 3 dx 
MR 2
2 .

Note that the formula does not depend on the length of the cylinder.
Moment of inertia of a uniform hollow sphere about a diameter
Si
Let M and R be the mass and the radius of the sphere, O its centre and OX the given axis
sh
(figure). The mass is spread over the surface of the sphere and the inside is hollow.
Let us consider a radius OA of the sphere at an angle  with the axis OX and rotate this radius
about OX. The point A traces a circle on the sphere. Now change  to  + d and get another
circle of somewhat larger radius on the sphere. The part of the sphere between these two
circles, shown in the figure, forms a ring of radius R sin. The width of this ring is Rd and its
ar

periphery is 2R sin. Hence,

the area of the ring = (2R sin) (Rd).
x
M R sin
Mass per unit area of the sphere  . A
4 R 2
H

Rd

M M R
The mass of the ring  (2R sin )(Rd)  sin  d. d
4 R 2 2 0

The moment of inertia of this elemental ring about OX is

M 
d I   sin  d. (R sin ) 2  M R 2 sin3  d
2  2
As  increases from 0 to , the elemental rings cover the whole spherical surface. The
moment of inertia of the hollow sphere is, therefore,
   
M 2 MR2   MR 2 
I  R sin3  d   (1  cos 2 ) sin  d  
  (1  cos 2 ) d(cos )

2 2   2  
0 0    0 

MR 2  cos 3   2 2
 cos     MR
2  3  3
0
 ROTATIONAL DYNAMICS Page # 11

3.1 Theorem of parallel axes

A very useful theorem, called the parallel axes theorem relates
the moment of inertia of a rigid body about two parallel axes,
one of which passes
through the centre of mass. COM

Two such axes are shown in figure for a body of mass M. If r is

the distance between the axes and ICOM and I are the respective r
moments of inertia about them, these moments are related by,
I = ICOM + Mr2
* Theorem of parallel axis is applicable for any type of rigid body whether it is a two dimensional
or three dimensional

Ex 5. Three rods each of mass m and length l are joined A

together to form an equilateral triangle as shown in
figure. Find the moment of inertia of the system
about an axis passing through its centre of mass and
perpendicular to the plane
COM

r
of triangle.
Sol. Moment of inertia of rod BC about an axis perpendicular

I1 =
ml 2
12
Si
to plane of triangle ABC and passing through the mid-
point of rod BC (i.e., D) is

From theorem of parallel axes, moment of inertia of this

B C

A
sh
rod about the asked axis is
2
ml 2  l  ml 2 COM
I2 = I1 + mr2 =  m  
12 2 3 6
r
 Moment of inertia of all the three rod is 30°
ar

B D C
 ml 2  ml 2
I  3I2  3  
 6  2
H

Ex.6. Find the moment of inertia of a solid sphere of mass M and radius R about an axis XX
shown in figure.

x
x
Sol. From theorem of parallel axis,
IXX = ICOM + Mr2
2 COM
= MR 2  MR2
5
7 x
= MR 2
5
r=R
 ROTATIONAL DYNAMICS Page # 13

Ex.9 Two uniform identical rods each of mass M and length  are joined to form a cross as
shown in figure. Find the moment of inertia of the cross about a bisector as shown
dotted in the figure.

Sol. Consider the line perpendicular to the plane of the figure through the centre of the cross. The
M 2
moment of inertia of each rod about this line is and hence the moment of inertia of the
12

M 2
cross is . The moment of inertia of the cross about the two bisector are equal by
6
symmetry and according to the theorem of perpendicular axes, the moment of inertia of the
M 2
cross about the bisector is .
12

r
Ex.10 In the figure shown find moment of inertia of a plate having mass M, length  and
width b about axis 1,2,3 and 4. Assume that C is centre and mass is uniformly distributed

3
4

C
2 Si b
sh

Sol. Moment of inertia of the plate about axis 1 (by taking rods perpendicular to axis 1)
l1 = Mb2/3
Moment of inertia of the plate about axis 2 (by taking rods perpendicular to axis 2)
ar

I2 = M2/12
Moment of inertia of the plate about axis 3 (by taking rods perpendicular to axis 3)

Mb2
I3 
12
H

Moment of inertia of the plate about axis 4(by taking rods perpendicular to axis 4)
I4 = M2/3
3.3 Moment of Inertia of Compound Bodies
Consider two bodies A and B, rigidly joined together. The moment of inertia of this compound
body, about an axis XY, is required. If IA is the moment of inertia of body A about XY. IB is the
moment of inertia of body B about XY.Then, moment of Inertia of compound body I = IA + IB
Extending this argument to cover any number of bodies rigidly joined together, we see that
the moment of inertia of the compound body, about a specified axis, is the sum of the
moments of inertia of the separate parts of the body about the same axis.

A
X Y

B
 ROTATIONAL DYNAMICS Page # 15

4R2 .4R2
I1 = = 8  R4
2
To calculate I2 we use parallel axis theorem.
I2 = ICM + M2R2

M2R2
I2 = + M2R2
2
3 3 3
I2 = M2R 2 = (– R2 )R 2 I2 = – R 4
2 2 2
Now I = I1 + I2

4 3 13
I = 8R – R 4 I= R 4
2 2
Ex.13 A uniform disc of radius R has a round disc of radius R/3 cut as shown in Fig. The mass
of the remaining (shaded) portion of the disc equals M. Find the moment of inertia of
such a disc relative to the axis passing through geometrical centre of original disc and
perpendicular to the plane of the disc.

r
O
3

Si
R/

Sol. Let the mass per unit area of the material of disc
be . Now the empty space can be considered as
having density –  and .
sh
Now I0 = I + I– 
(R2)R2/2 = M.I of  about O

– (R / 3) 2 (R / 3)2
I– =  [– (R / 3) 2 ]( 2R / 3) 2
2
ar

= M.I of –  about 0
4
 I0 = R4 Ans.
9
H

5. TORQUE :
Torque represents the capability of a force to produce change in the rotational motion of the
body

Line of action
of force
P F
r
r sin
Q

5.1 Torque about point :


Torque of force F about a point   
  r F

where F = force applied
P = point of application of force
Q = point about which we want to calculate the torque.
 ROTATIONAL DYNAMICS Page # 17

Ex.16 A particle having mass m is projected with a velocity

v0 from a point P on a horizontal ground making an
angle  with horizontal. Find out the torque about V0
the point of projection acting on the particle when

(a) it is at its maximum height ?
P Q
(b) It is just about to hit the ground back ?
Sol.
(a) Particle is at maximum height then  about point P is  p  rF v0

R r
mg
F = mg ; r 
2 
R v 2 sin 2 P
 P = mg = mg  0
2 2g
mv 20 sin 2
p =
2
(b) when particle is at point Q then  about point P is  p'  rF

r
r  R ; F = mg Q

 p'  mgR = mg
v 02 sin2
g Si P

Ex.17 In the previous question, during the motion of particle from P to Q. Torque of
gravitational force about P is :
mg
sh
(A) increasing (B) decreasing
(C) remains constant (D) first increasing then decreasing
Sol. Torque of gravitational force about P is increasing because r is increasing from O to R.
(Range)
ar

5.2 Torque about axis :

  
  r F

where  = torque acting on the body about the axis of rotation
H


r = position vector of the point of application of force about the axis of rotation.

F = force applied on the body..
   
 net   1   2   3 .....
To understand the concept of torque about axis we
take a general example which comes out in daily life.
Figure shows a door ABCD. Which can rotate about A D
axis AB. Now if we apply force. F at point. r × y
in inward direction then AB = r F and direction of this
AB is along y axis from right hand thumb rule. Which x
is parallel to AB so gives the resultant torque.
Now we apply force at point C in the direction as shown B C
 
figure. At this time r & F are perpendicular to each other
F
which gives
 AB  rF
 ROTATIONAL DYNAMICS Page # 19

Ex.18 Determine the point of application of third force for which body is in equillibrium when
forces of 20 N & 30 N are acting on the rod as shown in figure
20N

A 10cm C 20cm B
30N
Sol. Let the magnitude of third force is F, is applied in upward direction then the body is in the
equilibrium when

(i) Fnet  0 (Translational Equillibrium)
 20 + F = 30  F = 10 N
So the body is in translational equilibrium when 10 N force act on it in upward direction.
(ii) Let us assume that this 10 N force act. 10N
Then keep the body in rotational equilibrium 20N
x
So Torque about C = 0
i.e. c = 0 A C 20cm B
 30 × 20 = 10 x

r
30N
x = 60 cm
so 10 N force is applied at 70 cm from point A to keep the body in equilibrium.

figure.

5N
Si
Ex.19 Determine the point of application of force, when forces are acting on the rod as shown in

10N
sh
5cm 5cm

3N

Sol. Since the body is in equillibrium so we conclude F net  0 and torque about any point is zero

ar

i.e.,  net  0

10N
5N 6
F2 x 37°
H

A  8N
F
F1 3N
Let us assume that we apply F force downward at A angle  from the horizontal, at x distance
from B

From F net  0
 Fnet x = 0 which gives
F2 = 8 N
From Fnet y = 0  5 + 6 = F1 + 3
 F1 = 8 N
If body is in equillibrium then torque about point B is zero.
 3 × 5 + F1. x – 5 × 10 = 0
 15 + 8x – 50 = 0
35
x=  x = 4.375 cm
9
 ROTATIONAL DYNAMICS Page # 21

Ex.22 The ladder shown in figure has negligible mass and rests on a frictionless floor. The
crossbar connects the two legs of the ladder at the middle. The angle between the two
legs is 60°. The fat person sitting on the ladder has a mass of 80 kg. Find the contanct
force exerted by the floor on each leg and the tension in the crossbar.

W
1m
60°

N T N
1m °
30

Sol. The forces acting on different parts are shown in figure. Consider the vertical equilibrium of
“the ladder plus the person” system. The forces acting on this system are its weight (80 kg)
g and the contact force N + N = 2 N due to the floor. Thus
2 N = (80 kg) g or N = (40 kg) (9.8 m/s2) = 392 N

r
Next consider the equilibrium of the left leg of the ladder. Taking torques of the forces acting on
it about the upper end,

N (2m) tan 30° = T (1m) or

Si
T=N
2
3
= (392 N) ×
2
3
= 450 N

Ex.23 A thin plank of mass m and length  is pivoted at one end and it is held stationary in
sh
horizontal position by means of a light thread as shown in the figure then find out the
force on the pivot.
ar

Sol. Free body diagram of the plank is shown in figure. N2 T

 Plank is in equilibrium condition
So Fnet & net on the plank is zero N1 O A
(i) from Fnet = 0 mg
H

 Fnet x = 0
N1 = 0

Now Fnet  0
y

 N2 + T = mg ...(i)
from net = 0
 net about point A is zero
so N2 .  = mg . /2

mg
 N2 
2
 ROTATIONAL DYNAMICS Page # 23

Ex.26 A uniform rod of mass m and length  hinged at point H can rotate in vertical plane
about a smooth horizontal axis. Find force exerted by the hinge just after the rod is
released from rest, from an initial position making an angle of 37° with horizontal ?

37°
×
H
Sol. Just After releasing at 37º from horizontal F.B.D. of plank 

from net = I
N1
R 37º
 m2
 about point A = A = mg cos 37° = . mg mgcos 37º
2 3
A N2
6g
= rad/sec2
5
Now Tangential acceleration of centre of mass
 3g
at = . = m / s2

r
2 5
just after release vcm = 0  ar = 0

N1
R
37°
3g/5
a t || 
9g
25 N1
Si
Now resolving of at in horizontal and vertical direction as shwon in figure

mg
sh
12g N2
N2 at 
25
from Fnet = ma in both horizontal and vertical direction
 9g  13mg
N2= m 25 
ar

 N1 =
25

Now R= N12  N22

mg 10
H

R=
5
PULLEY BLOCK SYSTEM
If there is friction between pulley and string and pulley have some mass then tension is
different on two sides of the pulley.

Reason : To understand this concept we take a pulley block system as shown in figure.


B R
C

T1
A D a M>m
a
M m
 ROTATIONAL DYNAMICS Page # 25

Ex.28 A particle of mass m is moving along the line y = b, z = 0 with constant speed v. State
whether the angular momentum of particle about origin is increasing, decreasing or
constant.
 y P 
Sol. | L |  mvr sin  v
= mvr 
r r  b
mvb
 
 | L | = constant as m, v and b all are constants. O
X
 
Direction of r  v also remains the same. Therefore, angular momentum of particle about
origin remains constant with due course of time.

Note : In this problem | r | is increasing,  is decreasing but r sin , i.e., b remains constant. Hence,
the angular momentum remains constant.

Ex.29 A particle of mass m is projected with velocity v at an angle  with the horizontal. Find
its angular momentum about the point of projection when it is at the highest point of
its trajectory.

r
Sol. At the highest point it has only horizontal velocity
vx = v cos . Length of the perpendicular to the y
horizontal velocity from 'O' is the maximum height,
where

Hmax 
v 2 sin2 
2g
Si H
sh
mv 3 sin 2  cos  O x
 Angular momentum L =
2g

8.2 Angular Momentum of a rigid body rotating about a fixed axis

ar

Suppose a particle P of mass m is going in a circle of radius r and at some instant the speed
of the particle is v. For finding the angular momentum of the particle about the axis of
rotation, the origin may be chosen anywhere on the axis. We choose it at the centre of the
 
circle. In this case  
r and P are perpendicular to each other and r  P is along the axis.
H

 
Thus, component of r  P along the axis is mvr itself. The angular momentum of the whole
rigid body about AB is the sum of components of all particles, i.e.,

L= m r v
i
i i i

Here, vi = ri 
2 2
 L= m ri
ii  i or L =  m r
i
i i

or L = I
Here, I is the moment of inertia of the rigid body about AB.


Note : Angular momentum about axis is the component of I along the axis. In most of the cases
angular momentum about axis is I.
 ROTATIONAL DYNAMICS Page # 27

Note :
A Hinge
m

u u
O O
m m m
Case I Case II

Comments on Linear Momentum :

In case I : Linear momentum is not conserved just before and just after collision because during
collision hinge force act as an external force.
In case II : Linear momentum is conserved just before and just after collision because no external
force on the string.
Comments on Angular Momentum :
In case I : Hinge force acts at an external force during collision but except point A all the other
reference point given net  0. So angular momentum is conserved only for point A.
In case II : angular momentum is conserved at all points in the world.

r
Ex.32 A uniform rod of mass m and length  can rotate freely on a smooth horizontal plane
about a vertical axis hinged at point H. A point mass having same mass m coming with

m, 
×
H
u
Si
an initial speed u perpendicular to the rod, strikes the rod in-elastically at its free end.
Find out the angular velocity of the rod just after collision?
sh
m
Sol. Angular momentum is conserved about H because no external force is present in horizontal
plane which is producing torque about H.

 m 2 2
 3u
mu =  3  m    w =
  4
ar

Ex.33 A uniform rod of mass m and length  can rotate freely on a smooth horizontal plane
about a vertical axis hinged at point H. A point mass having same mass m coming with
an initial speed u perpendicular to the rod, strikes the rod and sticks to it at a distance
H

of 3/4 from hinge point. Find out the angular velocity of the rod just after collision?
m, 
H×

m,
Sol. H Initial position
3/4 u
m
from angular momentum conservation about H
initial angular momentum = final angular momentum
2
3  3  ml 2
m.u  m   + 
4  4 3
 ROTATIONAL DYNAMICS Page # 29

So now from equation (iv)

24 v 83 v
( v – vp )  v p   vp 
13 4 148
15 v
So in this way we get  
37 a
Ex.35 A person of mass m stands at the edge of a circular platform of radius R and moment
of inertia. A platform is at rest initially. But the platform rotate when the person jumps
off from the platform tangentially with velocity u with respect to platfrom. Determine
the angular velocity of the platform.
Sol. Let the angular velocity of platform is . Then the velocity of person with respect to ground
v.
vmD = vmG – VDG

u = vm + R R
vm = u –  R M
Now from angular momentum conservation
R
Li = Lf
0 = mvmR – I 

r
 I  = m (u –  R) . R u

 =
muR
I  mR 2
Si
Ex.36 Consider the situation of previous example. If the platform is rotating intially with
angular velocity 0 and then person jumps off tangentially. Determine the new angular
velocity of the platform.
Sol. Let the angular velocity of platfrom after jumps off the mass is . Then velocity Of man.
sh
0

R
R
ar

u
Initially
vm = vmp + vp
H

vm = u – R
From Angular momentum conservation
(I + mR2) 0 = I  – m (u –  R) R
I0 + mR2 0 = I  – m u R + m  R2
(I  mR2 )0  mu R
 
(I  mR 2 )

10. ANGULAR IMPULSE

t2 
The angular impulse of a torque in a given time interval is defined as  t1
 dt

Here, 
 is the resultant torque acting on the body. Further, since

 dL 
     dt  d L
dt
 ROTATIONAL DYNAMICS Page # 31

1 2 1  m 2  2
I  mg     = mg 
2 2  3 

6g 
or =

–

The linear speed of the free end is
v =  = 6g

11. COMBINED TRANSLATIONAL AND ROTATIONAL MOTION OF A RIGID BODY :

We have already learnt about translational motion caused by a force and rotational motion
about a fixed axis caused by a torque. Now we are going to discuss a motion in which body
undergoes translational as well as rotational motion. Rolling is an example of such motion. If
the axis of rotation is moving then the motion is combined translational and rotational motion.
To understand the concept of combined translational and rotational motion we consider a
uniform disc rolling on a horizontal surface. Velocity of its centre of mass is Vcom and its
angular speed is  as shown in figure.

r
v

R A
Si
v
Let us take a point A on the disc and concentrate on its motion.
Path of point A with respect to ground will be a cycloid as shown in figure.
sh
A

v A A

A A
ar

Motion of point A with respect to center of mass is pure rotational while center of mass itself
is moving in a straight line. So for the analysis of rolling motion we deal translational motion
seperately and rotational motion seperately and then we combine the result to analyses the
over all motion.
The velocity of any point A on the rigid body can be obtained as
H

  
VA  VCOM  VA COM

| VCOM |  V

| VA.COM | r in the direction  to line OA
 
Thus, the velocity of point A is the vector sum of VCOM and VP.COM as shown in figure


r VA O

A VCOM

Important points in combined Rotational + translation motion :

 ROTATIONAL DYNAMICS Page # 33

2v v
CA = =
2r r
For DB :

2v
2r D
B 2v 2v
vDB =
2v
2v

2v v
 DB = =
2r r

3. Distance moved by the centre of mass of the rigid body in one full rotation is 2R.

r
This can be shown as under :
In one rotation angular displacement  = 2 = t
 2 
s = v . T = ( R)    2R
Si
 
sh
In forward slipping s > 2R (as v > R)
and in backward slipping s < 2R (as v < R)
t
4. The speed of a point on the circumference of the body at any instant t is 2R sin
2
ar

Proof :
vxp = v – v cos  = v[1 – cos ] 
vyp = v sin 

H

| v p |  v 2 sin 2   v 2 (1 – cos )2 v = R v


v= 2v 2 – 2v 2 cos  P v

= 2v(1 – cos )1/2

 t   ωt 
= 2v sin    = 2v sin  = 2R sin 
 2  2   2

5. The path of a point on circumference is a cycloid and the distance moved by this point
in one full rotation is 8R.
A3
A2 A4

A1 A5
 ROTATIONAL DYNAMICS Page # 35

Ex.39 A circular disc of mass m and radius R is set into motion on a horizontal floor with a
v
linear speed v in the forward direction and an angular speed   in clockwise direction
R
as shown in figure. Find the magnitude of the total angular momentum of the disc
about bottommost point O of the disc.
   
Sol. L  L cm  m( r0  v 0 ) ...(i)
 v
Here, L cm  I (perpendicular to paper inwards)

1 2 v  O
  mR   
2  R

1 r0
 mvR
2
 
and m( r0  v 0 )  mRv (perpendicular to paper inwards) 90º 
v0
Since, both the terms of right hand side of Eq. (i) are in the
same direction.
O

r
 1
 | L | mvR  mvR
2

11.2
or
 3
| L | mvR
2
Ans.

Kinetic Energy of a Rolling Body

Si
If a body of mass M is rolling on a plane such that velocity of its centre of mass is V and its
angular speed is , its kinetic energy is given by
sh
1 1
KE = Mv 2  I  2
2 2
I is moment of inertia of body about axis passing through centre of mass.
In case of rolling without slipping.
ar

1 1
KE = M  2 R 2 + I  2 [ v = R]
2 2

1 1
 
MR2  I  2 Ic  2
H

 =
2 2
Ic is moment of inertia of the body about the axis passing through point of contact.
Ex.40 A uniform rod of mass M and length a lies on a smooth horizontal plane. A particle of
mass m moving at a speed v perpendicular to the length of the rod strikes it at a
distance a/4 from the centre and stops after the collision. Find (a) the velocity of the
centre of the rod and (b) the angular velocity of the rod about its centre just after the
collision.

r0
A a A v
a/4
Sol.

(a) (b)
 ROTATIONAL DYNAMICS Page # 37

Now from linear momentum conservation

mv
mv = (M + m) v  v' 
Mm
(a) Let us assume that moment of inertia of the system about C is 1. Then I  I(rod)C  I(part ) C

I  I0  M 22  m 21

M 2 Mm2  2 mM2  2 M(M  4m) 2

I  2
 2  I 
12 4(m  M) 4(m  M) 12(m  M)
(b) From Angular momentum conservation about A
Li = Lf
0 + 0 = I  – (m + M) v 1  I = (m + M) v 1
Put the value of I, v, & 1 we get

6mv
=
(M  4m)

11.3 Acceleration of a point on the circumference of the body in R + T motion :

r
(A) Both  & v are constant :
C

 2r
 2r  2r
 2r
r


D
Si
sh
(B) When  is constant and v is variable.

 

v1, a v2= v1+at

ar

t=0 t=t
So acceleration of different point on the body is given by following figure.
H

a
2
 r  2r
 2r  2r
a a
+  2r = a  2r
2
 r  2r
(Translational) (Rotational) a
(Combined R + T)

(C) When  is variable and v is constant :

   i  t
 i,
v v

t=0 t=t
 ROTATIONAL DYNAMICS Page # 39

12. UNIFORM PURE ROLLING

Pure rolling means no relative motion (or no slipping at point of contact between two bodies.)
For example, consider a disc of radius R moving with linear velocity v and angular velocity 
on a horizontal ground. The disc is said to be moving without slipping if velocities of points P and
Q (shown in figure b) are equal, i.e.,

v 
COM
 P
R v
Q
(a) (b)
vp = vQ
or v – R = 0 or v = R
If vp > vQ or v > R, the motion is said to be forward slipping and if vp < vQ < R, the motion is
said to be backward slipping.
Now, suppose an external force is applied to the rigid body, the motion will no longer remain
uniform. The condition of pure rolling on a stationary ground is,
a = R
Thus, v = R, a = R is the condition of pure rolling on a stationary ground. Sometime it is

r
simply said rolling.

I = CMR2

value of C = 1 for circular ring (R), C =

2
1
2
2
Si
Note : We can represent the moment of inertia of a different rigid body in a following way.

for circular disc (D) and solid cylinder (S.C.)

C= for Hollow sphere (H.S) , C= for solid sphere (S.S)

sh
3 5
Ex.45 A rigid body I = CMR2 is set into a motion on a rough horizontal surface with a linear
speed v 0 in the forward direction at time t = 0 as shown in figure. After what time
slipping finally stop and pure rolling starts. Find the linear speed of the body after it
starts pure rolling on the surface.
ar

v0
O
R
at t = 0
H

Sol. According to the given condition in problem the point P in the body move with speed v0 while
the point Q on the ground is at rest. So the friciton acts on the body is in backward direction
which gives the resultant torque on the body and increase the angualr speed  as shown in
figure.
1 1
v1  1R
O
v0 O v1 O v1 v1 R

P  1R
f v0 v1 R v1
f
(kinetic) Q (kinetic) friction
Q Q
at t = 0 at t = t1 static
at t = t
As shown in above figure initially v > R so forward slipping takes place. After introducing the
friciton speed decreases and  increases and at time t = t the relation v = r  is satisfied.
Therefore pure rolling starts. Initially the friciton is kinetic untill the motion is in slipping
condition. Afterwards at v = r fricition is static. We divide the above problem in two parts.
 ROTATIONAL DYNAMICS Page # 41

Ex.46 In the previous problem take rigid body a solid cylinder then find out the work done by
friciton from time t = 0 to t = t (at v = r)
Sol. Let us suppose that in between time t = 0 to t = t cylinder displaced s.
t=0 t=t

v0
v  R

S
Translational work done by friciton + Rotational work Done by friciton
Now calculate each type of work done one by one

(A) Translational work done by friciton :

1
for solid cylinder c =
2

v0 2
from eq. (5) v   v0

r
1 3
1
2

from eq.

s=
5 v 20
18g
v 2f  ui2  2as
2 
3 
2
2

Si
  v 0   ( v 0 ) – 2gs
sh
Translation W.D by friciton = – f.s

5 v 20 5mv 20
( w.D) f T  – mg. = –
18g 18
(B) Rotational W.D. by friciton :
ar

We known that  = I 

= ...(a)
I
H

from  f 2 – i2  2 
2
 2v 0  2
   .
 3R  I

mR2 v 02 m
Put I =  =
2 9
Rotation W.D by friciton W = .

v 02 m
Wf R =
9

5 v 2m
(C) So total W.D. by friciton W = Wf T + Wf R
= – mv 20  0
18 9
mv 20
W= –
6
 ROTATIONAL DYNAMICS Page # 43

Similarly, if a > R, then no support the angular motion the force of friciton will act in
backward direction.
So, in this case force of friction will be either backward, forward or even zero also. It all
depends on M, I and R. For calculation you choose any direction of friction. Let we assume it
in forward direction.
Let, a = linear acceleration, 
 = angualr acceleration
F
from linear motion x
F + f = Ma ...(1) C a
from rotational motion.
Fx – f R = I  f
a
Fx – f R = CMR2.
R
Fx – f R = CMaR ...(2)
from eq. (1) and (2)
F(x+r) = MaR (C + 1)
F(R  x )
a= ...(3)
MR(C  1)
Put the value from eq. (3) to eq. (1)

r
F(x – RC)
f=
R(C  1)
f should be   s mg for pure rolling
Si
Ex.48 Consider the arrangment shown in figure. The string is wrapped around a uniform
cylinder which rolls without slipping. The other end of the string is passed over a
massless, frictionless pulley to a falling weight. Determine the acceleration of the falling
sh
mass m in terms of only the mass of the cylinder M, the mass m and g.
M

m
ar

Sol. Let T be the tension the string and f the force of (static) friction, between the cylinder and
the surface
a1 = acceleration of centre of mas of cylinder towards right
H

a2 = downward acceleration of block m

 = angular acceleration of cylinder (clockwise)
Equations of motion are :
For block mg – T = ma2 ...(i)
For cylinder, T + f = Ma1 ...(ii)
( T – f )R

1 ...(iii)
MR2
2
The string attaches the mass m to the highest point of the cylinder, hence
vm = vCOM + R
Differentiating, we get
a2 = a1 + R ...(iv)
We also have (for rolling without slipping)
a1 = R ...(v)
8mg
Solving these equations, we get a2 
3M  8m
 ROTATIONAL DYNAMICS Page # 45

a
= ...(i)
R
as the cylinder does not slip over the strings.
The equation of motion for the centre of mass of cylinder is
Mg – 2T = Ma T T
and for the motion about the centre of mass it is
 MR2  MR2
2T.R =   , where I =
 2  2
mg

MR2 a Ma
2TR=  2T= ...(ii)
2 R 2
From (i) and (ii) on adding
Ma 3a
Mg =  Ma ; g
2 2
2g
a=
3
M 2g Mg

r
 2T= .  T=
2 3 6
As the centre of cylinder starts moving from rest, the velocity after it has fallen a height h is
given by
 2g 
v2 = 2  3 h or v =
 
4gh
3
Si
Ex.50 A thin massless thread is wound on a reel of mass 3kg and moment of inertia 0.6 kg-
sh
m2. The hub radius is R = 10 cm and peripheral radius is 2R = 20 cm. The reel is placed
on a rough table and the friction is enough to prevent slipping. Find the acceleration of
the centre of reel and of hanging mass of 1 kg.

2R
ar

A
H

Sol. Let, a1 = acceleration of centre of mass of reel

a2 = acceleration of 1 kg block
 = angular acceleration of reel (clockwise)
T = tension in the string 
and f = force of friction
Free body diagram of reel is as shown below :
(only horizontal forces are shown). a1
Equations of motion are : T
T – f = 3a1 ...(i) f
 f ( 2R) – T.R 0.2f – 0.1T f T T
   = – ...(ii)
I I 0.6 3 6
Free body diagram of mass is, a2
Equation of motion is,
10 – T = a2 ...(iii)

10N
 ROTATIONAL DYNAMICS Page # 47

Sol. Let us assume that sphere attain a maximum height H on the track.
0
Final Position
v=0

v0 H
0 
R
R v0

Initial Position
As the sphere move upward speed is decreased due to gravity but there is no force to
change the 0 (friction less track). So from energy conservation
1 1 1 v2
mv 20  I 20 = mg Hmax + I 20 , Hmax = 0
2 2 2 2g
13. TOPPLING
You might have seen in your practical life that if a force F is applied to a block A of smaller
width it is more likely to topple down, before sliding while if the same force F is applied to an
another block B of broader base, chances of its sliding are more compared to its toppling.

r
Have you ever throught why it happens so. To understand it better let us take an example.
F F
A B

Si
Suppose a force F is applied at a height b above the base AE of the block. Further, suppose
the friction f is sufficient to prevent sliding. In this case, if the normal reaction N also passes
through C, then despite the fact that the block is in translational equilibium (F = f and N =
mg), an unbalanced torque (due to the couple of forces F and f) is there. This torque has a
sh
tendency to topple the block about point E. To cancel the effect of this unbalanced torque
the normal reaction N is shifted towards right a distance 'a' such that, net anticlockwise
torque is equal to the net clockwise torque or
N
B D
F
C b
ar

f
A E
W=mg
H

Fb = (mg) a
Fb
or a=
mg
N N
B D B D
F F
C b C b
a
f f
A E A E
mg mg
(a) (b)
Now, as F or b (or both) are increased, distance a also increases. But it can not go beyond
the right edge of the block. So, in extreme case (beyond which the block will topple down),
the normal reaction passes through E as shown in figure.
Now, if F or b are further increased, the block will topple down. This is why the block having
the broader base has less chances of toppling in comparison to a block of smaller base.
Because the block of larger base has more margin for the normal reaction to shift.
 ROTATIONAL DYNAMICS Page # 49

14. INSTANTANEOUS AXIS OF ROTATION

The combined effects of translation of the centre of mass and rotation about an axis through
the centre of mass are equivalent to a pure rotation with the same angular speed about an
axis passing through a point of zero velocity. Such an axis is called the instantaneous axis of
rotation. (IAOR). This axis is always perpendicular to the plane used to represent the motion
and the intersection of the axis with this plane defines the location of instantaneous centre
of zero velocity (IC).
v


IC

For example consider a wheel which rolls without slipping. In this case the point of contact
with the ground has zero velocity. Hence, this point represents the IC for the wheel. If it is
imagined that the wheel is momentarily pinned at this point, the velocity of any point on the
wheel can be found using v = r. Here r is the distance of the point from IC. Similarly, the
kinetic energy of the body can be assumed to be pure rotational about IAOR or,
P v

r
vP P
r r 


v
r
Si vP  r  

IC


1
sh
K I IAOR 2
2
Rotation + Translation  Pure rotation about IAOR passing through IC

1 1 1
KE = mv 2COM  ICOM 2  KE  I IAOR 2
2 2 2
ar

14.1 Location of the IC

If the location of the IC is unknown, it may be determined by using the fact that the relative
position vector extending from the IC to a point is always perpendicular to the velocity of the
point. Following three possibilities exist.
H

(i) Given the velocity of a point (normally the centre of mass) on the body and the
angular velocity of the body

If v and  are known, the IC is located along the line drawn perpendicular to v at P, such that
v
the distance from P to IC is, r  . Note that IC lie on that side of P which causes rotation

 
about the IC, which is consistent with the direction of motion caused by  and v .


P v

IC
 ROTATIONAL DYNAMICS Page # 51

Ex.55 A uniform thin rod of mass m and length l is standing on a smooth horizontal surface.
A slight disturbance causes the lower end to slip on the smooth surface and the rod
starts falling. Find the velocity of centre of mass of the rod at the instant when it
makes an angle  with horizontal.
Sol. As the floor is smooth, mechanical energy of the rod will remain conserved. Further, no
horizontal force acts on the rod, hence the centre of mass moves vertically downwards in a
straight line. Thus velocities of COM and the lower end B are in the direction shown in figure.
 
The location of IC at this instant can be found by drawing perpendiculars to v C and v B at
respective points. Now, the rod may be assumed to be in pure rotational motion about IAOR
passing through IC with angular speed .
A

COM
l
h (1  sin )
 IC 2
vC 
l
sin
2



r
B vB
Applying conservation of mechanical energy. Decrease in gravitational potential energy of the
rod = increase in rotational kinetic energy about IAOR

 mgh 
1
2
I IAOR 2

Solving this equation, we get

l
Si 1  ml 2 ml 2 2
 2
or mg 2 (1  sin )  2  12  4 cos  
 
sh
12g(1  sin )

l (1  3 cos 2 )

 l 
Now, | v C |   cos  
2 
ar

3gl (1  sin ) cos 2 

 Ans.
(1  3 cos 2 )
H