CENTRE OF MASS Ina system of extended bodies some interesting and the system is, Th has here is ne special point muple properties no matter how complicated point isealied the eenter system of n particl whose position yeetors as shown in the figure, the position veetor for the center of ma i» is defined as mi my Fmt, Done M where M = Ennis the total ma The components of theabove eq zrmy M Fie system, ition may be written as Sanya Som, eM ce: ar) The location of the contre of mass is independent of the reference frame used to locate it, The centre of mass of the system of particles depends only on the masses ofthe particles and the positions of the particles relative to one another. ‘A rigid body, such as a meter stick, can be thought of: system of closely packed particles. Hence italso has the contre ‘of mass, The number of particles in the body is so large and theie spacing so small, however, that we can treat the body as though if has a continuous distribution of mass, For continuous distribution of mass, the centre of mass is defined as a fea M where § is the position yeotor of the centre of mass of small nas clement di, The components of th s equation are Seat i Jaa, You ham 1 and 24° 5 fen Often we deal with homogeneous objects having a poina lane of symmetry. Then the centre of mass will orin the plane of symmetry. For exanipta, thecentre of mass ofa homogeneous rod will eat the eentre of the rod, the centre of mass of a homogenous sphere will beat the centre of the sphere. the centre of mass ofa cone will beat the axis of the cone, ete. TRAIN YOUR BRAIN== Example b: Find the center of mass of the four point m shown in figure, line, the point, on the line, sas Sal. The total mass M= we have 1m the component equations. So hs 2k x Yow 28 =m 2 ‘The position veetor of the centre of massa peuple 2: TWO part of masses | kg and 2 kg are located at Feapandx= 4m. Find the postion of their entre of mas, meth COM mp=2kg x xox fon ince, bol the particles lie on x-axis, the COM will also lie Jpxis, Lot the COM is located atx = x, then rydstanee of COM from the particle of mass I ke=x tad r, = distance of COM from the particle of mass akg O°) Sol. one or J orx=2m 3x thus, the COM of the two particles is located at x= 2m :sample3: The position vector of three particles of masses m, = | kgm, © 2 kg and m, = 3 kg are @=(+4j+km, ja je km and 3, j-2k)m respectively. prsition veetor oftheir center of mass. the position vector of COM of the three particles will be \d the given by mimi +m fat Son, em my, Substituting the values, we get _ WG +a+by+ Oy + i+ ky + Gyaij-2k one Te203 =40i4)-f)m Ans. CENTRE OF MASS OF CONTINUOUS MASS SYSTEM (@ Center of Mass ofa Uniform Rod Suppose a rod of mass M and length L is lying along the axis with its one end at x = 0 and the other at X=. Mass per unit length of the rod = 7 Hence, dm, (the mass of the element dx situated at M xexig)= Yk oT ‘Thecoordinates of the element dx are (x, 0, 0). Therefore, X-coordinate of COM of the rod will be SS yee EL _fxam ff oo (Mex) Xo = Jam ee wif sak The y-coordinate of COM is Similarly, 7,,.,=0 1.) i.e, the coordinates of COM ofthe rodare | 5-0. 0 |.i.e. it lies at the center of the rod. ===TRAIN YOUR BRAIN == Example: Mass is non uniformly distributed over the rod of length ‘/". Its linear mass density varies linearly with length as kx. The position of centre of mass 26 OF ven bys © 3h OF @ wy eis Sol. (d) na kx Let the cross section = A. mass of element dv at distance x dn=(o) Ad fusoan few x, a fos aax 3 oo 3 Example: A thin rod of length 3L is bent at right angles distance L from one end. Locate the centre of mass with respect tothe comer, Take L= 1.2m Sol. The centre of mass of each arm isat its midpoint, The centre ‘of mass of the twoarms can be found by treating each arm asa point particle at its centre of mass. From the diagram we see that 2, y=Oand Monow or System or Parictss aND Roranoxat Movon—G@B) Pt2m. Prem equation, ‘The position of the centre of mass is 0.2 1 +088 jm, Note that thecentre of mass does not lie within the body itsel (i) Center of mass of a Semicireutar Ring: Figure shows the object (semi circular ring). By observation wecan say that the x-coordinate of the center of mass of the ring is, zeroas the half ring is symmetrical about y-axis on both sides of the origin. Only we are required to find the y-coordinate of the center of mass. y To find y,, we use 1 You jg Jamy i) Here for dm we consider an elemental are of the ring at an angle 0 from the x-direction of angular width dO. H'radius ofthe ring is R then its y coordinate will be R sin0, here dm is given as M dm= Rad So from equation i) we have 1 4M R * (_— = |sinddd Ya Be fa BAO Rsind)= i 2 iS ) (ii) Center of mass of Semicircular Dise: Figure shows the half disc of mass M and radius R. Here, we are only required to find the y-coordinate of the center of mass of this disc as center of mass will be located on its half vertical diameter, Here to find y,,,, we consider a small clomental ring of mass dm of radius x on the dise (dive cay bre considered to be madle up such thin rings of increasing alii) which will be integrated from Oto R. Here dm is riven as dt ful db din 2 (rx 2 Now the y-coordinate of the element is taken as asin previous section, we have derived that the center of mass ofa semi circular ring is concentrated at Here y,,, is given as iv) Center of mass ofa solid Hemisphere: The hemisphere is ‘of mass M and radius R. To find its eenter of mass (only y- coordinate), we consider an clement dise of width dy, mass dm at a distance y from the center of the hemisphere. The radius of this elemental dise will be given as, r= JR? —y" i _ R ‘The mass dm of this disc can be given as 3M SMe dim= Say XRF Spr (Ry) dy Yeu OF the hemisphere is given as 3 a ok = 2? Jory y. Ia) Fenscounse stuoyMareruanJEEXI© Center of mass of a Hollow Hemisphere: A hollow hemisphere of mass M and radius R. Now we consider an elemental circular strip ofangular width do at an angular distance 0 from the base of the hemisphere. This stip will have an area, dS=2nR cos 0 RdO y, Its mass dim is given as m= Mt 2nR cos 8 RAD aR Here y-coordinate of this strip of mass dm can be taken as R sind, Now we ean obtain the center of mass of the system as. 1 7 Seam Jam Rsin@ M ae M 32a’ =R fsinO cos dO =y,,,= oi) Center of mass of a Solid Cone: 2nR* cos es) Rsind R height H and base radius R. Obviously the center of ofthis cone will lie somewinere on its axis, ata height less _ CENTER OF MASS OF COMBINATION OF MASSES than H/2. To locate the center of mass we consider sn” elemental dise of width dy and radius r, at adisncey == TRAIN YOUR BRAIN solid cone has mass M, ass fom the apex of the cone. Let the mass ofthis dise be dm, which can be given 3M aH dm: ne dy here y.,, ean be 3 sgy = 3H . “PP f gy = (from vertex) Monon of Systent oF Parricuss anb Rovationat Motion: Center of mass of some common syst = Rectangular plate (By symmetry) y —»—» = A triangular plate (By qualitative argument) y Zl . = Aciret le BF Example 6: Two circular disc having radius R and mass density cand 2o respectively are placed hown in figure. Then find cout the position of COM of the system (from point “O"), ry 6 A B Sol. Mass of dise Am, = ox? Mass of dise Bm, = 2a Due to mmetry the COM of dise A lie at point O and COM of se B lie at point O", So we realize the above problem ina following way 2 9 i # = @Centre of ma 8: Find the position of eentre of mass ofthe unifony, dueto both the dise lic at point C (assume), Example: hhaving distance x from m, lamina shown in figure. Ifthe mass density ofthe lamina is . . Ak 3 So the centre of mass lie in the die B having distance 54. ye assume that in remaining portion a dise of radius g 4R having mass density +6 is there then we also include one dise Saye of a/2 radius having ~ & mass density. So now the problem change in following form Example7: Find out the position of centre of mass ofthe figure |* Piola SSL ieee shown below. — (3 ‘ 1 : ghey. ER meta A . So the contre of mass of both dise A & B lie in their respective centre such as O & O'. e of mass of both Now plate separately. mya/2 of => COM, ofthelamina= =~ ol. We divide the above problem in two parts, @ Fi 1 find out position of ce cular plateand reetanga ii) ‘Then find the pos jon ofeentre ofr tucture ns aR 3m Centre of mass of semicircular dise lie at Centre of mass of re angular plate lie at the centre of = = X= plateat point C = => BC=R ————n, oe 3.6 i.eC.O.Mlic on leftward side from point 0. MOTION OF THE CENTRE OF MASS istance from m, Now we can discuss the physical importance of the centre of L ‘mass concept. Consider the motion of a group of particles m, My «+m, and whose fotal mass is M which is a constant From the definition of the centre of mass, we have o5> tan M iy =m 7 omg Le ROn4) Differentiating this equation wrt. time, we obtain wns) ARS M¥, =m, +m, CAVITY PROBLEMS = - Havens ete. Ifsome mass or area is removed from a rigid body then the aie) Neeley the ee ate position of centre of mass of the remaining portion is obtained by assuming that in a remaining part +m & — m mass is there, | ( 4) Oh ee Furthorsteps are explained by following example. om (Fat y ® 29) Fou.course Srupy Marenia:JEEX!erentiating the above equation Wert, time, we obtain Mi... = m4, +m, a, + + m,i, where & is the acceleration of the first particle, ete. and ig the acceleration of the centre of mass, Now, from Newton's second law the force F acting on the first particle is given by Fy =m. Likewise, F, = mi, ete, We ean then rite the above entation as MB, = +B +. ‘Amongall these forces the internal forces are exerted by thepaticles on each other. However, from Newton's third law, these internal forces will occur in equal and opposite paits, so that they contribute nothing to the sum. The right hand sum in theabove equation then represents the sum of only the external forces acting on all the particles (system). We can then rewrite the above equation as on = 2 Fcc Mi, This states that the centre of mass ofa system of particles moves s though all the mass of the system is concentrated at the centre of mass and all the external forces were applied at that point. Oneimportant situation is that in which © F, = 5 then gg = constant, Example: A dog of mass 10 kg stands on a stationary boat of ‘mass 40 kg so that he is 20 m fiom the shore. He then walks 8 m cn the boat towards the shore and halts. How far is he from the shore now? Assume that there is no friction between the boat and water. Sol Inthe horizontal direction, there is no force on the system, (dog + boat). Therefore, the centre of mass of the system docs ot move in the horizontal direction. Since the dog moves towards the shore, the boat moves away from the shore to keep centte of mass stationary. Let d be the distance by which the boat moves backwards and let x be the initial distance of the boat from the shore. The initial x-coordinate of the centre of 10x 20+40.x 10+40 The final x-coordinate of the centre of mass 1020-84 d)+40(x+d) mas 1040 Equating the two, we get 5 d= 5m * The dog is20-8 + 13,6m from the shore. ample 10: ‘Two balls with masses m, ~ 3 kg and m= 5 kas hav 5 m/s in the direetions as shown i theorigin, (a) Find the velocity of the eenter of mass 3 sbefre the collision (b) Find theposition of the center of mass 2 safer the eolision The given time is of no consequ constant forall times. From equation, in component form. is my, (ke)(- m/s) +(Ske)(Om/s Rie vi, HV ay Nowy Pe emer = 12 mis Bke Thus, ¥,, =-1.5 142] mvs (b) Since the collision occurs at the ori the center of mass 2s la n, the position of Bye Vqgt=3 144 jm Example 11: A 75 kg man standsat the rear end of a platform of 88 25 kg andl length 4m, which moves initially at 4 nvs overa jonless surface. At (= 0, he walks at 2 mis relative to the platform and then stops at the front end. During the period of walking, find the displacement of {a) theplatform, (b) theman (©) the center of mass Sol. Initially the man, the platform, and the em have the same velocity, 4mv/s, When he begins to walk forward, his increase in ‘momentum must be compensated bya decrease in the platform's momentum, Let us say that the velocity of the platform relative tothe ground while heis walking ic. Yq = Mp The velocity of man relative to the ground then Yur tpg = 24) F From the conservation of momentum, we hi (15+25) x4=75( 2 +v,) +25, ‘Thus, the velocity of the platform is v, = 2.5 m/s, and the velocity of the man is v,.= 4.5 m/s, Since the velocity of man relative to platform is 2mis, e 4m, therefore, it takes t= == Sin7a "28 for him towalk from the rear to the front, 1ON OF SysteM or Parrictes AND RoTamionat Monin 993) $$? @ty, the impulse is the area between the forge, and the F= Oaxis, as shown in figure, ‘The Sl unit ofimpulse is Ns. more than one foree are acting ona particle then thong Displacement of platform is x, Displacement of the man isx, =V, isplacement of the center of mass tye eo impulse i given by the time integral ofthe net force, er “i ie, —— F Example 12: A particle of mass m, = 4kg moves at 5im/s, while m,=2kg movesat 2i m/s. Find (@) the kinetic energy of center of mass () the kinetic energy with respect to center of mass. 3] : Sol. The velocity of the centre of mass is obtained as (4kg)(Smis)+(2kg)(2m/s) _ 4 =ITRAIN YOUR BRAIN™ ey . Example 13: Find the impulsedue to the force ft = ai +btj, where The following figure shows the velocities relative (0 Me 1) ang h=4 Nis, ifthis force acts rom =Otot=03s, v/=vj-v_,= +1 m/s oo vey 2 mls Fat. f(ai+biu oft a sat, ot 7 _ » or {ai fave} [rt Thus af? 24 of 7H, © Kye Feo, +myg3-483 =o.) 5+ OO; 8 1 thus 1 =(0.6 j +0.18 j)Ns Exar I: Fi tir a the previous chapter, we have learnt the concept of work ogy uit tine acne heampeec ofS fees Which was an integral of free with respect o displacement. S94 tmpulge ofa force isthe area under the graph. Now we are going to learn another concept, called impulse, Impulse is defined as the integral of force with respect to time, ‘fra Since force is a vector and time isa scalar, the result ofthe integral in above equation is a vector. Ifthe force is constant (both in magnitude and direction), it may be removed ftom the Thus integral so that the integral is reduced to 1 1 . = | 5(600)(1) + (500)(2-1) + (500)(3-2) x10 I= F fat —F¢,-1)=Fat or 1=[250+500+250}x10* ‘ or I=1Ns o—__—_HHA Fun conns Sruoy arena JEEX!IMPULSE - MOMENTUM THEOREM inte previews tpt, we have learn that work done by a sec brings about change in kinetic energy ofa particle Let us ee what physical quantity changes due to impulse of a force. according to Newton’s second law, the net force acting on ile is equal to the product of mass and acceleration, apart ,=mi & incr therefore Substituting the value of net force, we get W ) m= }at (ea) = fm Notice when we change the variable of integration from t toy, we mustalso change the time limits of the integral to the corresponding limits of v For constant mi is a vector and is called the momentum of a particle of mass m moving with velocity ¥ Thus o Tn aB ‘The above equation shows that the net impulse of forces acting on a particle is equal to the change in momentum of the particle. This is called the Impulse-Momentum ‘Theorem, = = ==TRAIN YOUR BRAIN Example 15: A 2 kg bock is moving at a speed of 6 m/s. How large. force F is needed to stop the block in a time of 0.5 ms? Sol. Impulse on bloc! Ft=my,~my, FS x104)=2(0) -2)(6) or F=-2.4x10'N. The negative sign indicates that the force opposes the mation Change in momentum of block sis subjected to anet impulse ] has a mass of 275 g, calculate its velocity immediately following the impulse. Sol. Using Impulse - Momentum Theorem Example 16: ball falling with velocity 9, = (-0.65i-0.35}) nv (0.61 + 0.18 }) Ns. Ifthe ball my,-my, 0275 =-0.65] -0.35j + 0.35 })+ (2.181 + 0.655} = (0.65 (1.537 +0305 j) mis NEWTON’S SECOND LAW AND THE RATE OF CHANGE OF MOMENTUM __7 From the impulse momentum theorem 1, = AB Using definition of Impulse, we get Fatt ap For constant net force, Ifthe force is not constant, then we can find the average force as, a. Rang ap For short intervals $2 approximates the instantaneous ai force. Inthe limit as At approaches zero the fraction 5 becomes the derivative. ® at The above equation is the momentum statement of the Newton’s Second Law. ‘Thenet force acting on a particle is equal to the time rate of change ofits linear momentum. For aparticle of constant mass the above equation reduces to the common statement of Newton's Second Law. Thus, 7s Xn «= qe") oon ce Ey-m ens at Monos or Systestor Panmcuis Ano Roraniow a Mon NOB) $$===TRAIN YOUR BRAIN == Example 17: An 150 g ball is thrown at 30 m/s, Itis struck bya bat, which gives ita velocity of 40 m/s in the opposite direction. Ifthe time of contact is 10s, what is th ball? Sol. If we choose the original di erage force on the ection as +x axis, then 301) my, —mv,=m(-40) ‘The average force is Ap _ -0.15kg*704 a 7T aT Notice that this is much Larger than the weight (1 the ball, 1050iN CONSERVATION OF LINEAR MOMENTUM When the sum of the forces on an abject is zero, the equation @ Gi B dt tells us that the time derivative of momentum is zero. Thatis, This implies jp =constant Consequently, one can state a conservation law for ‘momentum: When the net force on a particle is zero, its momentum is, constant, ‘The real utility of the momentum conservation concept les. comes about when it is applied to collection ofpart For a system of particles, the total momentum is simply the vector sum of the momentum of each of the particles in the system. That is Now consider the net force on a system of particles. ‘There are two kinds of forces: Internal forces, resulting from the forces between the particles within the system, and External forces, arising from the forces between the particles in the system and objects outside the system, For example, consider a system of two blocks joined together with a spring. If the system is allowed to fall ficely under gravity, then the gravitational force acting con each block is the external force and the spring foree acting on each block is internal. SN) of When we ealeulate the net Force On A System Of part, by performing the vector sum, then the summation gy forces is zero. the interna x “Thus the momentum statement of the Newtons secqyy Jaw may be written as Now, ifthe summation of external forces is zero, then Lo a Thus, B = constant Inthe absence ofa net external force, the momentum ofa system is conserved. ‘The conservation of momentum law can be used to relate the initial motion of particles within a system to the motion of those same particles some time later. The law emphasizes the equality of momentum before and afer something happens within the system. ‘Thus, the conservation law is usually written as Pras = Peas ya-dn, ==TRAIN YOUR BRAIN== Example 18: Suppose that a bullet, of mass m 0g and speed is fired intoa block of mass M= 2 kg suspended as in figure. THe bullet embeds in the block and raises it by a height H= 5 cm. asiaam » hes, > (ar (@) How can one determine from H? (b) What is the thermal energy generated? Sol. ropes will remain essentially vert ‘Thus, there wil be no external horizontal for terval, the al as the bullet comes toes We may apply Ifthe coltision occurs within a very short time ‘the conservation of linear momentum along this direction. mu=(m+M)V Ai) G06) ————— Fun. Course Srupy Marnman JEE-XI tinal aiaseeatanie iwhere Vis the common clocity after the collision. Since the collision is completely inelastic part of the bullet's u initial kinetic energy, > mut is converted into thermal energy: Only the kinetic energy of the bullet-block system that remains after the collision is available to raise the system byheight H. From the conservation of mechanical energy we have 1 5 (m+ M)V2=(m-+ MgH (i) Hence, V we find (m+M),2eH m Putting m = 10" ky We geu= (42h P(toy(o.03) or u=201 m/s (©) The kinetic energies before and after the collision are N!, Substituting 02J- andl Thechangein the kinetic energyasaresultofthecolision is -201J. Virtually all the bullet’s kinetic energy is _-*Siverted into thermal energy. COLLISION Collision is a brief event between objects that contact each cihet. The interaction between two or more objects is called a collision if there exists three identifiable stages to this interaction: before, during and afte. In the before and after stage the interaction forces are zero of approaches zero asymptotically. Between these two states the interaction forces arelarge and often the dominating forces governing the object's ‘motion. The magnitude ofthe interacting force is often unknown, ‘Therefore, the conservation of momentum statement is useful for relating the initial velocities before the interaction to the final velocitiesater the interaction without requiring detailed knowledge of the interaction forces. TyBes of Collision Collisions may be either elastic or inelastic. Linear momentum is, conserved in both cases. A perfectly elastic collision is defined ‘as one in which the total kinetic energy of the particles is also conserved 1 1 te 2 rau? +Lin,ul =v} tomy pul +p. = yin ty In an inelastic collision, the total kinetic energy of the Particle changes. Some ofthe kinetic energy is stored as potential energy associated with a change in internal structure or state, and {snot immediately recovered, Some ofthe energy may be used to raise the system (eg. an atom) toa state with higher energy. Of, it may be converted into thermal energy of vibrating atoms and molecules er into light, sound or some other form of energy. In a completely inelastic collision, the two bodies couple or stick together, Coefficient of Restitution (e) ‘The elasticity of collision may be measured in terms of a dimensionless parameter called the coefficient of restitution (e). It is defined as the ratio of velocity of separation to the velocity of approach of the two colliding bodies velocity of separation velocity of appraoch Os OF Before 2 Oo Velocity of separati Velocity of approach After Velocity of separation = v,+ v, Velocity ofpproach = u, + u, vt uF, Foran elastic collision: Foran inelastic collision: 0>m,, we may ignorethe mass ofm, in ‘comparison with m,. This leads to v,=u, and v,=2u,, which means that m, maintains (approximately) its initial velocity u, butt imparts double this value to m,, Before O* sg ater . OO (6) When m, <> m,, we may ignore the mass ofm, in 2mis mis comparison with m,. This leads to ¥,=0, and v)= 2u,, which means that m, maintains Sol, The two velocities will be exchanged and the final motion (approximately) its initial velocity u, but it imparts is reverse of initial motion for both, double this value to m,. mao é wo 3m oe ic oe fs Example20: Two elastic bodies P and Q having equal masses (©) When m,< mv} +v¥); Before avPt ve . After 356=v 24+ y, “i : From equation @) & (i) ” o4 Os Ce v,=10m/s v," 16 m/s & option (C) is correct o_O J rurconnse Sumy arenas JB-X1somple21: Two solid balls of rubber A and B whose masses fee 2oogmn and 4002M respectively, are moving. in mutually ite directions. If the velocity A is 0.3 m/s and both the patlseome to rest after collision, then the velocity of tall B is- (a 0.15ms! (8) -0.15 ms" fo hSmst (@) none of these sol.) From momentum conservation P,+P)=0 — [Given:m,=200gm m,=400 gm] m(03)+2m.V,=0 03 Ver“ 15 ms" so correct options is (B) Example22: As shown in figure A, B and C are identical balls B anéCareatrest and, the ball A is moving with velocity veollides elastically with ball B, then after collision — Oo: 66 (@ Allthe three balls move with velocity v/2 Whi (0 Amoves with velocity vand (B+C) moves with velocity v (@) AandB come to rest and C moves with velocity v Sol. (@) From Question figure: ee BC _@- _ @@ Itshould be follow momentum conservation PA=Pel + Pc! fiom option (A), save : 3 mvt 5 mv soits wrong #) Option (B), mv=mx orm mye JJ my &its wrong Option (C), my =mv-+2mv =3 mv (wrong) Option (D),-mv=mx 0-+m 0 my= my; oF p, So option (D) is correct option Example23: A sphere of mass m moving with velocity u hits ‘other stationary sphere of same mass, Ife is the coefficient of Teutution, what is the ratio of velocities of two spheres after the colision? SH. By definition of coefficient of restitution nu; u-0 Monow or Sistem or Panmiciss ano Roranionat- Morion—@09)—______________@ ie vreau 0 ‘And by conservation of momentum mu=my,+ my, or vty=u “ Solving equations (i) and (ii) for v, and v,, we get (1 —e)/2 moving particle ofmass m makes head on elastic collision with a particle of mass 2m which is initially at rest. Show thatthe colliding particle losses (8/9)th ofits energy after collision. Sol, Let u be the initial velocity of body of mass m and v, and v, be the velocities of bodies of mass m and 2m respectively after the collision. As in collision momentum is always conserved mu=my, +2my, ie v+2yj=uorQu-v)=2y, (i) And as the collision in clastic 1 1 Smut 2 mvt +4eem)¥ 2 ie. vie2vieu? or (u'-vi)=2¥3 wo Dividing equation (i) by (i), we get uty=y Substituting this value of v, in equation (i), uv =2uty), ie, v=-(W3) COLLISION IN TWO DIMENSIONS In two or three dimensions (except for a completely inelastic collision) the conservation laws alone cannot tellus the motion of particles after a collision, if we know the motion before the collision. For example, for two-dimensional elastic collision, which is simplest case, we have four unknowns, namely the two components of velocity for each of two particles after collision, but we have only three known relations between them, one for the conservation of kinetic energy and a conservation of momentum relation for each of the two «dimensions, Hence we need more information than just the initial conditions. When we do not know the actual forces of interaction, asis often the case, the additional information must bbe obtained from experiment. tis simplest to specify the angle ‘of recoil of one of the colliding particles.==TRAIN YOUR BRAIN== aample26: A hopper releases grain at a rate dmidt onto a mveyor belt that moves at a constant speed v, seer ofthe motor driving the belt? “PC# % What i the a Let the system has some arbitrary length of belt wh i ose mass we can call M. This mass of the system inereases at the samme rate as that the grain falls, so UM/dt = dm/at Since the grain falls vertically, j= Oand Vy = —g 4. Since the speed is constant, dv/dt= 0. Thus from equation for the system of variable mass where F,, is the force needed to maintain constant speed because the mass is increasing, The power required (P= f.7 )is papa a {Lis interesting to compare this with the rate at which the kinetic energy of the grain increases. Ho A(Lgp) aly dt dt\2 ee This is only half the power input. The other halfis dissipated 8 heat when the grain lands on the belt and slips relative to it. Example27: A uniform chain of massm and length /hangs on a thread and touches the surface of a table by its lower end. Find ii foree exerted by the chain on the surface when half ofits feath has fallen on the table, The fallen part does not form P. Sol LetN be the normal reaction acting on the chain. It consists of two parts N=N +N, Iv be the instantaneous velocity of the particte falling on the floor, then dm dma | dm a dx dt ae Thus N=" (2) Since v= Pex ‘Total reaction is mex, 2mex 4 a wm] for x= 12 N=3mg 2 ROCKET PROPULSION Consider a rocket of massM with fuel of mass Am, Their common velocity is v relative to some inertial frame. When the rocket engines are fired, the gases are expelled backward with an Vj Felative to the rocket. This is a exhaust velocity 9, = fixed quantity determined by the design of the engine and the type of fuel. Ifthe rocket’s velocity changes to 7+ ay relative tothe inertial frame, then the velocity of gas with respect to the framewill be ion = Veg HVAT = (v, ++ AN) f Applying the law of conservation of momentum, we get (M+am)v =M(v+ Av) +Am(-v,, ++ Av) ‘Afler some cancellation we find 0=MAv+ Amey, + Av) Motonor israor Panes any Roxas. Moos GD)M+am [> sasa% = woas — Ifboth Av and Am arc small quantities relative to vandM, respectively, their product ,AvAm, is negligible in comparison ‘with the other terms, and we are left with Am Avey, OM Since an increase in the mass of the expelled gases corresponds exactly to the loss in mass of the rocket system, we have As “AM. In the limitas AM 0 the above equation becomes om OM On integrating both sides, ==TRAIN YOUR BRAIN === Example 28: The mass ofa rocket is 2.8 x 10° kg at the launch time. Of this, 2 x 10* kg is fuel. The exhaust speed is 2500 m/s and the fuclis ejected at the rate of 1.4 x 10*kp/s (a) Find the thrust ofthe rocket (©) Whats its initial acceleration at launch time? Ignore air resistance, Sol. (a) The magnitude of the thrust is given by oe Thrust=v,. Gp (b) Using equation (2500)(1.4 x 10*)=3.5 x 10°N 8412.5=42.7 mvs? JONAL KINEMATICS ROTATION raha ti ero may i chapter we will study the rotational motion of a rigiq ich weil ue tr rt has fixed size and shape. In other words, the relative positions of ts constituent particles remain constant. ‘Actually a rigid body does not exist ~ it is an useful {dealization. By the term fixed axis, we mean thatthe axismus, be fixed relative to the body and fixed in direction relative to an, inertial position. In figure (a) below, translatory motion of rigid body s shown. In figure (b) rotation about an axis whichis fixed both in space and direction is shown. In figure (c), combined translation and rotation is shown. (a) >) VARIABLES OF ROTATIONAL MOTION Consider a body of arbitrary shape rotating about a fixed axis'0! as shown in figure. In a given interval all the particles lying on the line OA move to their corresponding positions lying on OB. Although the particles of the body have different linear displacements, they all have the same angular displacement 8, which is given by a—\!_____ 2» rucounse swwoyMaremat JEEXI‘The average angular velocity ofthe body for afi jateral is given by inite time 48 _ 0-6, At tt, The unit of angular velocity is radian per second (cad). The instantaneous angular velocity is defined as onLim£9 2 00 at dt Iris the rte of change of the angular postion 6 with respect totime. tis a vector quantity ‘The direction of angular velocity is given by th: a = by the right hand rule, We hold the right hand such that when the fingers of the right hand curve in the sense of rotation, the thumb points in the direction of we PERIOD AND FREQUENCY OF REVOLUTION ‘The period T is the time for one revolution and the frequency f isthe number of revolutions per second (rev/s). The period and frequency are related as Ifthe angular velocity is constant, the instantaneous and average angular velocities are equal. In terms of period T and Qn af frequency fthe angular velocity is given by @= The relation between linear speed and angular speed is obtained by differentiating equation s d@_ ids 7 ith 5 oro=— 7 with respect to time. FG s or ver Although all particles have the same angular velocity, their speeds increase linearly with distance from the axis of rotation. ‘The average angular acceleration is defined as Aw i At and the instantaneous angular acceleration is defined as son a= LimS® _ de soo At dt | nh Angular acceleration is a vector quantity measur rad/s, Rotation with Constant Angular Acceleration When the angular acceleration is constant, we can find the da dt change in angular velocity by integrating equation a. do= ade oe Joo fot ! oF © 0, =at or @ =a, +a 49 Substituting the value of @ in equation @= 3s we get d0=odt=(o, + ata 0-8-0445 or 0=6, toga (On elimiriating t from the above equations, we get @? =o, +2a(-0,) TOTAL ACCELERATION IN ROTATIONAL MOTION A particlemoving ina circular path with speed v has a centripetal (or radial) acceleration a, a, there is angular acceleration, the speed ofthe particle changes and thus we can find the tangential acceleration dv _ (deo a at ( dt ) ‘The net linear acceleration is ear ‘The magnitude of the net acceleration is given by yap +a Monon or Sysre or Paricus an ROTATIONAL Monon) —esAnalogy Between Rotational Kinematics and Linear Kinematics Quantity, Linear neato i. Position x : 2. Displacement ax At a 3. Velocity dx o== | ar dt dv ao a dt 4. Acceleration Jadt+e o= fadt+c x= fodtec’ O= Jodt+c! 5. Equations of Kinematics for D=votat O= Bo + at constant linear acceleration / ee ae 0 =O, + ot + fat angular acceleration 2 v= ve = ax ==TRAIN YOUR BRAIN== = ® Weknow d0= dt On integrating both the sides, we get Example29: A disc starts rotating with constant angular acceleration of p rad/s" about a fixed axis perpendicular to its plane and through its centre at t= 0. a (@) Find the angular velocity of the disc at t= 4 s. Ja0= foodr=[(o, +ar* br) dr (6) Find the angular displacement ofthe disc in 4 s and oo (© Find number ofturns accomplished by the disc in 4s. cen ee Sol. Here a =p rad/sec* 5 4 =0 a TRAIN YOUR BRAIN== @ @=0+(wradst)’4sec =4nrad/s, Example31: A flywheel of radius 20 em start from res, and has ©) 0=0+ + (rradis) (16s) =8 nrad, constant angular acceleration of 60 rad/s*. Find 2 (@) themagnitude of the net lincar acceleration ofa point on (© Let the number ofturns ben therim after 0.15 = nQqrmd=8erd> n=4 (b) the number of revolutions completed in 0.255 Example 30: A wheel rotates with an angular acceleration S0l- (a) The tangential acceleration is constant and given by given by a = 4at’— 3bt®, where t is the time and a and b are a= or= (60 rad/s*}(0.2 m)= 12 m/s* constants. If the wheel has initial angular speed «,, write the equations for the: @ angular speed angular displacement. Sol. (i) We know ‘The magnitude of the net linear acceleration is do=adt In order to calculate the radial acceleration we first need to find the angular velocity at the given time, We bave = 0, + at=0 (60 rad/s?\(0.15 s)= 9 rads * @=@r= Gl rad/s\(0.2m)= 162m/s t Integrating both sides, we get a (b) Finally dt =([(4 at’ —3br*) de i if le. o=tar 2 or w=0,+ar'—be This corresponds to (1.88 rad) (1 revi2zrad) = 0.3 eo $$ $$ rantcounse suv MarexiatJEEXr MOMENT OF INERTIA ithe moment of inert ikethcventre of eee ijt hat is related (0 ils mass distribution, The moment of Feria (denote by 1) 8 important quantity in the stady oF ‘pate of particle that are roating. The role the momenta inertia in the study of rotational motion is analogous to that of snus inthe study of finear motion, Moment of inertia gives a Fresarcment of the resistance of a body to a change in ie tein ion Ia body is at rest, the larger the moment of inertia of a pealy he more difficult i is to put that body into rotational swoon, Similarly, the larger the moment ofinertia ofa body, the nore dlficull 10 stop itsrotational motion, The moment of inertia ivcafeulated about some axis usually the rotational axis). Moment of nertia depends on {) density of the material of body i) size of body (i) axis of rotation In totality we ean say that it depends upon distribution of ass relative to axis of rotation, Moment of inertia docs not change ifthe mass () isshifled parallel to the axis of the rotation (i) is rotated with constant radius about axis of rotation Moment of Inertia of a Single Particle Fora very simple ease the moment of inertia of singleparticle about an axis is given by, leme i) Here, m is the mass of the partic axis under consideration. MOMENT OF INERTIA OF A SYSTEM OF PARTICLES The moment of inertia of a system of particles about an axis is siven by, ind rts distance from the Ene me. the perpendicular distance from the axis to the Which has a mass m, Monow or Svsra or Panricuss anp Rotarionat. Marion > ==TRAIN YOUR BRAIN == Example32: Two heavy particles having masses m, & m, are situated in a plane perpendicular to line AB at a distance of , and r, respectively, Ca eee * im @ What is the moment of inertia of the system about axis AB? (ii) What isthe moment of inertia ofthe system about an axis passing through m, and perpendicular to the line joining, ‘m,andm,? (ii) What is the moment of inertia ofthe system about an axis passing through m, and m,? Sol. (i) Moment of inertia of particle on leftis I, =m, Moment of Inertia of particle on right is I, =m, Moment of Inertia ofthe system about AB is IeIe=mg2+m3 (ii) Moment of inertia of particle on leftis 1, Moment of Inertia ofthe system about CD is I=1,41,=0+mg,+1,) Moment of inertia of particle on leftis , Moment of inertia of particle on right is I, = 0 Moment of Inertia ofthe system about EF is, ip Example33: Three light rods, each of length 2é, are joined together to form a triangle. Three particles A, B, C of masses m, 2m, 3m are fixed to the vertices ofthe triangle. Find the moment of inertia of the resulting body about (@) anaxis through A perpendicular to the plane ABC, (b) an axis passing through A and the midpoint of BC. (a) Bis at a distant 2¢ from the axis XY so the moment of inertia of B (1,) about XY is 2 m (26+ 3m (26? =20me ‘The moment of inertia ofthe body about X' Y" is m(0}+2m(O?+ 3m(O?=Sme @2 = ee se ample M: Four particles each oftmass m are kept atthe four square of ade a, Find the moment of inertia of the mab a line perpendicular to the plane ofthe square and se ThA the centre of the square N. The perpendicular distance ot svory particle from the; Aine is a. VS Themoment of inertia of one particles. therefore, ae Poe 2) = Sma’ The moment of inertia of the system may therefime, Lina? = 2 mat, m MOMENT OF INERTIA OF RIGID BODIES For a continous mass distribution such as found a rigid Lime byan integral. dvix. we place the summation of rom is divided into infinitesimal clement of mass dm and cance thom a mass clement tothe avis of rotation, the eatin is (A) Uniformed about a perpendicular bisector Consider uniform ex ofmass M and length | figure and suppase the moment of inertia is to be calculated about the bisector AB, Take the origin at the middle point 0 of there, Consider the clement ofthe rod between a and x + dx from the origin, As the tod is uniform, Q—_—_——-@ Mass per unit length of the rod = Mil sothat the mass of the clement = (M/I)dx. jx = ‘The perpendicular distance of the element from the ling ABisx. The momentof inertia ofthis element about AB is When x =—1/2, the element isat the left end of the rod. As xis changed fiom ~ 12 to V2, the elements cover the whole tod Thus, the moment of inertia ofthe entire rod about AB is Mey" Me So) 2 ‘Moment of inertia of a rectangular plate about a line parallel toan edge and passing through the centre ‘The situation is shown in figure. Drawa line parallel toAB ata 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. It is “small” because the perpendiculars from different points of the strip to AB differ by not more than dx. Asthe plateis uniform, M its mass per unit area = 5 bl Mass of the strip = Me dx 7 The perpendicular distance of the strip from AB=X. The moment of inertia of the strip about AB Me “[4xx", The moment of inertia of the given plates, therefore, { Moeas ast ‘The moment of inertia ofthe plate about the line parallel to the other edge and passing through the centre may be obtained from the above formula by replacing I by b and thus, we i 1 Mb? 12 Fuut Course StupyMarentat JEE-X(© Moment ofnertia ofa circular ring about itsaxis (the ine perpendicular tothe plane of the ring through its centre) ‘Suppose the radius ofthe ring is Rand its mass is M. As all the elements of the ring are at the same perpendicular distance R from theaxis, the moment ofnenia ofthe ring is = fe m= JR? dm= Re farm = Moment of inertia of a uniform circular plate about its axis Letthemass of the plate be M andits radius R, The centre sat and the axis OX is perpendicular tothe plane of the plate. Oo x x) R Draw two concentric circles of radii x and x + ds, both centred at O and consider the area of the plate in between thetwo circles, ‘This part of the plate may be considered to be a circular ting of radius x. As the periphery ofthe ring is 2x and its ‘width is dx, the area ofthis elementary ring is 2axdx. The atea ofthe plate is R®, As the plate is uniform, Its mass per unit area Mass of the ring = Using the result obtained above for a circular ring, the ‘moment of inertia of the elementary ring about OX is © Moment of inertia ofa hollow cylinder about its axis Suppose the radius of the cylinder is R and its mass is M. As every element of this cylinder is at the same Perpendicular distance R from the axis, the moment of inertia ofthe hollow cylinder about its axis is Jeeam = R? fam = MR? © Moment of inertia of a uniform solid cylinder about its axis Let the mass of the cylinder be M and its radius R. Draw ‘wo cylindrical surface of radix andx + dx coaxial withthe @ detween be given cylinder. Consider the part of the eylinder the two surface. This part of the cylinder ma considered to be a hollow eytinder ofradivs x. The area of crosssection of the wall of this hollow cylinder is. Ifthe length of the eylinder is I the volume of the of this elementary hollow dxl. ‘The volume ofthe solid cylinder is ¢R* Land itis uniform, hhence its mass per unit volume is ee) aR iss of the hollow cylinder considered is MI Note that the formula does not depend on the length of the cylinder, ‘Moment of inertia ofa uniform hollow sphere about 2 diameter Let M and R be the mass and the radius of the sphere, O its centre and OX the given axi over the surface of the sphere and the 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 circle on the sphere, Now change 6108+ dB and get another circle of somewhat larger radius on the sphere. The part ofthe sphere between these two circles, shown in the figure, forms a ring of radius R sin8, The width ofthis ring is Rad and its periphery is 2nR sin8. Hence, the area ofthe ring= (2aR sind) (Rd6), Mass per unit area of the sphere ‘The mass of the ring Moniow or Syste or Panmices AND ROTATIONAL ono GQ @‘The moment of inertia ofthis elemental ring about OX is a1=( Sino rsinoy So) ‘AsO increases from Oto x, the elemental rings cover the whole spherical surface. The moment of inertia of the hollow spheres, therefore, MR? 2 (sin ou [Jo-se ovsnoas] eT [exo] form solid sphere about a diameter Let M and R be the mass and radius of the given solid sphere. Let O be centre and OX the given axis. Draw two spheres oftadii x and x-+ dx concentric with the given solid spherical shell trapped between these sphere. The spheres may be treated as a hollow sphere of radius x. The mass per unit volume of the solid sphere x ‘The thin hollow sphere considered above has a surface area 4x? and thickness dx. Its volume is 4x? dx and hence its mass is M. aR Its moment of inertia about the diameter OX is, therefore ‘Asx increases from 0t0 , the shells cover the whole solig sphere. The moment of inertia of the solid sphere about OX is, therefore, THEOREMS OF MOMENT OF INERTIA Thereare two important theorems on moment of inertia, which, in some cases enable the moment of inertia of a body to be determined about an axis, if its moment of inertia about some other axis is known, Let us now discuss both of them. Theorem of parallel axes A very useful theorem, called the parallel axes theorem relates the moment of inertia ofa rigid body about two parallel axes, one of which passes through the centre of mass. ‘Two such axes are shown in figure for a body of mass M. If ris he distance between the axes and I..,,and [are the respective ‘moments of inertia about them, these moments are related by, =Teout ‘+ Theorem of parallel axisis applicable for any type ofrigid body whether itis a two dimensional or three dimensional =TRAIN YOUR BRAIN== Example35: Three rods each of mass m and length | are joined together to form an equilateral triangle as shown in figure. Find the moment of inertia ofthe system about an axis passing through its centre of mass and perpendicular to the plane of triangle. A 8 ‘c Sol. Moment of inertia of tod BC about an axis perpendicular to plane of triangle ABC and passing through the mid-point of rod BC(ie., Dis e—] i. — ran course sro Marenat JEEXtmi” THEOREM OF PERPENDICULAR AXES The theorem states that the moment of inertia of a plane lamina rom theorem of parallelaxes, moment ofinertiaofthisrod *b&Ht an axis perpendicular tothe plane of the lamine is equal about the asked axis is to the sum of the moments of inertia of the lamina about two Lelemr axes perpendicular to each other, in its own plane and a intersecting each other, at the point where the perpendicular “Bp 12 i axis passes through it. a Let x and y axes be chosen in the plane of the body and 2- OB axis perpendicular, to this plane, three axes being mutually _ me +o J me AGEN, Perpendicular, then the theorem states that. 2 (wa) 6 x Moment of inertia ofall the three rod is a4 Bb Example 36: Find the moment of inertia ofa solid sphere of mass % ‘Mand radius R about an axis XX shown in figure. x Important point in perpendicular axis theorem (i) This theorem is applicable only for the plane bodies (two dimensional). x (i) In theorem of perpendicular axes, all the three axes (x, ¥ and z) intersect cach other and this point may be any point on the plane of the body (it may even lie outside the body). Intersection point may or may not be the centre of mass of, the body. ===TRAIN YOUR BRAIN=>= ren a of parallel axis, Example38: Find the moment of Inertia of a cuboid along the +Mr Sol ay =I, tae axis as shown in the figure. ‘MR? 2am? +MR? Example37: Consider a uniform thin wire of massm and length 21with two particles of mass m each at its ends. Let AB be a line 1 Perpendicular to the length of the rod passing through its centre. Find the moment of inertia of the system about AB. Z <—o—> Sat, Ss m m Sol. After compressing the cuboid parallel to the axis Vea Naa lng : pnt ae = RQ! 2 12 Moy mm ON oF Sustem or Parmcuss ano Rorartoxat Monion— Gi) +2(m/") =a? Ans.Example 39: Find the moment of inertia of uniform ring of mass ‘Mand radius R about a diameter, Sol, Let AB and CD be two mutually perpendicular diameters of Take themas mathe line perpendicular to the plane of the ring through the centre as the Z-axis. The ‘moment of inertia ofthe ring about the Z-axis is = MR’. As the ing is uniform, all ofits diameter equivalent and sol, =1,, From perpendicular aves theorem, 1 e141, Hence = = Similarly: the moment of inertia of a uniform dise about a diameter is MR?4 Example 40: Two unitorm identical rods cach of mass M and length ¢ are joined perpendicularly 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 moment of inertia of each M : rod about this line is —~ and hence the moment of inertia of Me the cross is “>=. The moment of inertia of the cross about the ‘wo bisector are equal by symmetry and according to the theorem of perpendicular axes, the moment of inertia of the cross about Me the bisector is ~~. the bisector is Example 41: 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 4 2 c Tf Sol, Moment of inertia of the plate about avis 1 (by taking ra perpendicular toaxis 1) mb? by mb? 4 ae 9G a Moment of inertia of the plate about axis 2 (by taking regs perpendicular toaxis 2) Ie MeN2 Moment o perpendicular taxis 3) nertia ofthe plate about axis 3 (by taking reals Mb? 12 Moment of ines perpendicular t “m(2) MOMENT OF INERTIA OF COMPOUND BODIES Consider two bodies A and B, rigidly joined together. The ‘moment ofinertia ofthis compound body. about an axis XY, is required, IT, isthe moment of inertia of body A about XY. is the moment of inertia of body B about XY.Then, moment of Wty tending this argument to cove in of the plate about axis 4(by axis 4) king rods a 3 Inertia of compound body T= 1, + Ly ¥¥ number of bodies ofthe bout a specified axis, is the sum of the rigidly joined together, we see that the moment of inert compound bod moments of inertia of the separate parts of the body about the sameaxis, ==TRAIN YOUR BRAIN™= Example 42: Two rods each having length | and mass m joined together at point B as shown in figure. Then findout moment of inertia about axis passing thorugh A and perpendicular to the plane of page as shown in 8-——> cl Sol. We find the resultant moment of inertia I by dividing in to parts such as I= M.lofrod AB about A + M.l of rod BC about A. +1, 1) ~—— __ —_@ —__—- nreaunse StupyMarewat JEEXIfirst caleulate I,: mi? Caleulation of 1: Use parallel axis theorem Example43: A uniform disc having radius 2R and mass density rasshown in figure. Ifa small disc of radius R is cut from the discas shown. Then find out the moment of inertia of remaining discaround the axis that passes through O and is perpendicular to the plane of the page. a eg Sol. We assume that in remaning part a disc of radius R and mass density 4 ¢ is placed. Then My= onan? ©) wen ras taken My = on when 6's takes Total Moment of Inertia = 1, +1, M,(2R)* 2 1 = S4R?4R? 2 noR’ Tocalculate 1, we use parallel axis theorem. las M MR? 2 + MR 3 3 $M,R? = SComR*)R? MGR? = 5 Cor’) Now! I= Soar! 2 Example44: A uniform disc ofradius R hasa round disc of radius 3 cut as shown in Fig. The mass of the remaining (shaded) portion ofthe disc equals M. Find the moment of inertia of such isc relative to the axis passing through geometrical centre of original disc and perpendicular to the plane of the disc. ) Sol. Let the mass per unit area of the material of disc be o. Now the empty space can be considered as having density—c and o. Now 1,=I,+1, on(R/3)*(R/3)? 2 =M.of —c about 0 4 sonrt 9 +[-on(R /3)]QR/3? aR" MOMENT OF FORCE OR TORQUE Rotational Analogue of Force Letus take the example of opening or closing of'a door. A door is a rigid body which can rotate about a fixed vertical axis passing through the hinges, What makes the door rotate? Itis clear that unless a force is applied the door does not rotate. But any force does not do the job. A force applied to the hinge line cannot produce any rotation at all, whereas a force of given magnitude applied at right angles to the door at its outer edge is most Motion oF System or Panricts AND ROTATIONAL Monos—G@a)-———_______@effective in producing rotation. It isnot the force alone, but how and where the force is applied is important in rotational ‘motion. The quantitative measure of the tendency of a force to cause or change the rotational motion ofa body is called torque. Consider an example to understand this. In the figure below, the wrench is trying to open the nut Now the ability of wrernch to open the nut will depend not only on the applied force, but the distance at which force is applied. This gives birth to a new physical quantity called torque. ) Fsing ? If only radial force F, were present, the nut could not be tured. Thus the force causing the rotation is tangential force F, only. The magnitude of the torque about an axis due to a force is iven by «= (Force causing the rotation)» (distance of point of ap- plication of force from the axis) =€sing)r wemay also write (rsing) (rn) » TarFsinb= (rsin§)F =1F=1,F where 1, is known as moment arm (lever arm) Thus, ifa force acts on a single particle ata point P whose position with respect to the origin O is given by the position vector F, (see figure), the moment of force (torque) acting on the particle with respect to the origin O is defined as the vector product; F TxF the axis ofrotation and usins Direction of torque is found by sliding the force vector at .gright hand thumb rule, Talk about F,, FF, »F,and F, and their moment arm or forcearm F; (Torque) oki, % Fil, Important Note (1) The ST unit of torque is newton-metre. This is also the unit of work and energy. But torque is not work or energy. Usually, the unit of work or energy is written as “joule”, But the torque should not be expressed in "joule". How- ‘ever, both have same dimensions ML?T*. ® Torque is always defined with reference to a given point (or given line). On changing the referenece point (or line) the torque may change. @) Torque is a vector quantity, whose direction is Perpendicular to the plane of forée and position vector and its direction is given by right hand screw rule. 4) Ifthe torque rotates the body in anticlock wise direction, the torque is positive and if the torque rotates the body in clock-wite direction, the torque will be negative. () Asa shortcut the magnitude of torque can be calculated as the product of the force and the length of line perpen- dicular to the force starting from the point about which the torque is to be calculated. ift=0, if =0, or if0=0° or 180°. Henceifthe line of action ofthe force passes through the reference point, the torque vanishes. © ¢—______@—__—_ Fout Course Srupy Maresuat JEEXI(1) The more is the value of r, ‘easier (0 rotate the body, () The handle of screw driver is taken thick (i) In villages the circumference. {il The handle of handpump is keptctong, (iv) The rinch used for opening the tap, the more will be torque and handle of flour-mill is placed near the kept-long. 8) If body is acted upon by more than one force, the total torque is the vector sum of cach torque. eats Thus, torque also follows superposition principle, (0) There can be non-zero torque on body even when net force is zero (couple) and there ean be force producing zero torque, L o =) F (10) Foree couple: pair of forces cach of same magnitude and in opposite direction is called a force couple. Torque due to a couple about any point is same and its magnitude = Magnitude of one force X distance between their lines of action A PRACTICAL EXAMPLE OF TORQUE Moment ar st your pl, Opponents Tore enter of a) ey Ate Moweniamn ds im \ \ ft) \ "smn Sf f ecyoucat A judo hip throw In judo, a weaker and smaller fighter who understands Physies can defeat a stronger and larger fighter who does Not. This fact is demonstrated by the basic “hip throw," in which a fighter rotates the fighter’s opponent around his hip and if the throw is successful onto the mat. Without the Propet use of physics, the throw requires considerable strength and ean easily fail. ==TRAIN YOUR BRAIN™= Example45: Given that, ? =27 +3) and #=27 +6 &. The ‘magnitude of torque wll be ® V4i0 Num (@ Y405 Nm ( Y504 Nam @ V510 Nm Sol. We know tha, @ = 7 x F +6k) = T=) +3] «( = 12C]) + 6-4) + 187 ~ 121 -6k +187 INoc: x i=0,7xJ=k, jx Now 1? 1= 12) +6? + (ay = 1444364324 = J504 Example 46: A particle is falling freely along line x torque on this particle due to gravity, about origin wher © Crosses x axis Gi isaty=d Find Sol. () t=mgd ing (Clockwise) y d q mg 7) x =mgd (Clockwise) ==TRAIN YOUR BRAIN == Example 47: Find torque due to gravity at any time t about pt. of| projection, ifa body is projected with velocity u at an angle 0, Sol. Ed eos 8 At every instant force mg is in downward direction and perpendicular distance will be displacement along x-axis ie. X=(ucos0 )t 17 Mg M1608 Otitis increasing with time Menor SirovorParncus aw Rorsnonst Moron —G@———______Example 48: Find net torque about axis of rotation passing through 0, ROTATION ABOUT A FIXED AXIS Tf ljge = Moment of inertia about the axis of rotation (since this axis passes through the hinge, hence the name Ty.) ‘oa =Tesultant external torque | acting:on the body about axis of rotation sees Fed axe of angular acceleration ofthe body. | Rotation (exe )ytinge = Tatings 1 Rotational Kinetic Energy > BeM¥qy5 = Macy ‘Net external force acting on the body has two component tangential and centripetal. => Foema,= mn =merra, 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 pulley block system as shown in figure. => R=ma=mary, Let us assume that tension induced in part AB of the string is T, and block M move downward. If friction is present benveen pulley and string then it opposes the relative slipping between pulley and string, take two point e and Fon pulley and string respectively If friction is there then due to this, both poins jvants to move together. So friction force act on e and d in the direction as shown is figure ‘This friction force Facting on point d increases the tension T, bya small amount dT. Then T,=T,+dT or we ean say T, In this way the tension on two side of pulley is different If there is no relative slipping between pulley and string then Tabout it acceleration of the two blocks. Assume that the string is, is and its radius is. Calculate the magnitude ofthe Mt and does not slip on the pulley. Sol. Suppose the tension in the let string is T, and that inthe right string in T,, Suppose the block of mass m, goes down with, an acceleration and the other block moves up with the same acceleration a. This isalso the tangential acceleration of therim ‘of the wheel as the string does not slip over the rim. The angular acceleration ofthe wheel i, therefore, c= a/t. The equations of ‘motion for the mass m,, the mass m, and the pulley areas follows: mg-T,=ma i) T,-mg=ma Ci) TAT ya laH Tale onal) Putting T, and T, from (i) and (i) into (i), {(m,g—a)-m,g +a)] r (m=myer which gives a= Ty Gm ¢m,)F e—_——————ad— — un course SreoyMarenat EEX!le $0: A uniform rod of mass m and length ¢ can rotate in *erical plane about a smooth horizontal axis hinged at point H. Find angular acceleration & of the rod just after it is released ftom initial horizontal position from rest’? ) Calculate the acceleration (tangential and: ‘Aat this moment. Gi) Calculate net hinge force acting a this moment (i) Find cand o when rod becomes vertical, (@) Find hinge force when rod become vertical. Soli) Ty =I, & 1) ofpoint oan 3g 3 26 ———— 4 A mig = 0.£=0(-; «=O just after release) (i) Suppose hinge exerts normal reaction in component form as shown, (we get the value of a,,, from previous example) mg >=" m4 In horizontal direction Fy= Magy > N=0 (-z 4, in horizontal = 0 as «= 0 just after release). (iv) Torque = 0 when rod becomes vertical. soa=0 using energy conservation met dig (: ne) 3 ie = PS cae (¥) When rod becomes vertical more Fy-mg= Smg ne 2) Example 51: The pulley shown in figure has moment of inertia | about its axis and radius R. Find the acceleration of the two blocks. Assume that the string is light and does not slip on the palley. Sol. Suppose the tension in the left string is T, and that in the right strings T,. Suppose the block of mass M goes down with an acceleration a and the other block moves up with the same acceleration. This is also the tangential acceleration ofthe rim of the wheel as the string does not slip over the rim. ‘The angular acceleration of the wheel = z ‘The equations of motion for the mass M, the mass m and the pulley are as follows; [M] @ Ci) TR-Ty Ci) Substituting for T, and 7, from equations (i) and (ji) in equation (iii) [M(g-a)—m(g+a)JR= 2 (Mme I+(M+m)R? KINETIC ENERGY OF A RIGID BODY ROTATING ABOUT A FIXED AXIS Suppose a rigid body is rotating about a fixed axis with angular speed «. Solving, we get, a= Then, kinetic energy of the rigid body will be : Here, “2 is the resultant torque acting on the body. Further, since . oo aaa? “a Patear Motor Svsrem or Pagmcurs ap ROTATIONAL Momion—@ggp——