Chapter 11:

Angular Momentum

Physics for Scientists and Engineers, 10e

Raymond A. Serway
John W. Jewett, Jr.
 Chapter 11:
Angular Momentum

11.1 The Vector Product and Torque

11.2 Analysis Model: Nonisolated System (Angular Momentum)

11.3 Angular Momentum of a Rotating Rigid Object

11.4 Analysis Model: Isolated System (Angular Momentum)

11.1 The Vector Product and Torque
! ! !
Torque τ º r ´ F
!
=> τ = rF sin f

=Vector (cross) product of r and F.

!
Direction of Torque
is given by right-
hand rule.

!
11.1 The Vector Product and Torque

! ! !
C = A´B

C = AB sin q
 The Vector Product
Properties of vector cross product:
! ! ! !
A ´ B = AB -B sinθ
´A
! ! ! !
! ! A
! ! ´ B = - B ´ A ! !
(
A´B = 0 A " B )Þ A´A = 0
! ! ! !
If A ^ B, then A ´ B = AB
! ! ! ! ! ! !
( )
A´ B + C = A´B + A´C
! !
d ! ! dA ! ! dB
dt
(A´C = )
dt
´B + A´
dt
The Vector Product
In terms of unit vectors:
ˆi ´ ˆi = ˆj ´ ˆj = kˆ ´ kˆ = 0
ˆi ´ ˆj = -ˆj ´ ˆi = kˆ
ˆj ´ kˆ = -kˆ ´ ˆj = ˆi

kˆ ´ ˆi = -ˆi ´ kˆ = ˆj
! ! ! !
( )
A ´ -B = - A ´ B
So, i x (-i) = j x (-j) = k x (-k) =0
 The Vector Product
Vector cross product in unit vector notation:
ˆi ˆj kˆ where A and B
! ! are two vectors
A ´ B = Ax Ay Az
having three
Bx By Bz components.

Ay Az A AAzx Ax Ay
(determinant)
= ˆi +- zx ˆj + kˆ
By Bz BBzx BBzx Bx By
! !
=> A ´ B = ( Ay Bz - Az By ) ˆi + ( Az Bx - Ax Bz ) ˆj
+ ( Ax By - Ay Bx ) kˆ
This method is more useful when the vectors have three components.
 Quick Quiz 11.1
Which of the following statements about the relationship
between the magnitude of the cross product of two
vectors and the product of the magnitudes of the vectors
is true?
! !
(a) A ´ B is larger than AB.
! !
(b) A ´ B is smaller than AB.
! !
(c) A ´ B could be larger or smaller than AB,
depending on the angle between the vectors.
! !
(d) A ´ B could be equal to AB.
 Quick Quiz 11.1
Which of the following statements about the relationship
between the magnitude of the cross product of two
vectors and the product of the magnitudes of the vectors
is true?
! !
(a) A ´ B is larger than AB.
! !
(b) A ´ B is smaller than AB.
! !
(c) A ´ B could be larger or smaller than AB,
depending on the angle between the vectors.
! ! ! ! ! !
(d) A ´ B could be equal to AB. A ´ B = - AB ´A
B sinθ
 Example 11.1:
The Vector Product
Two vectors! lying in the xy! plane are given by
! !the
equations A! = 2!ˆi + 3ˆj!and! B = -ˆi + 2ˆj. Find A ´ B and
verify that A ´ B = -B ´ A.
 Example 11.1:
The Vector Product
! !
( ) (
We have, A ´ B = 2ˆi + 3ˆj ´ -ˆi + 2ˆj )
! !
( ) ( )
So, A ´ B = 2ˆi ´ -ˆi + 2ˆi ´ 2ˆj + 3ˆj ´ -ˆi + 3ˆj ´ 2ˆj
! !
=> A ´ B = 0 + 4kˆ + 3kˆ + 0 = 7kˆ
! !
( ) (
Now, B ´ A = -ˆi + 2ˆj ´ 2ˆi + 3ˆj )
! !
( ) ( )
=> B ´ A = -ˆi ´ 2ˆj + -ˆi ´ 3ˆj + 2ˆj ´ 2ˆi + 2ˆj ´ 3ˆj
! !
=> B ´ A = 0 - 3kˆ - 4kˆ + 0 = -7kˆ
So,
 Example 11.2:
The Torque Vector
!
( )
A force of F = 2.00ˆi + 3.00ˆj N is applied to a
rigid object that is pivoted about a fixed axis aligned
along the z coordinate axis. The force is applied
!
( )
at a point located at r = 4.00ˆi + 5.00ˆj m relative to
!
the axis. Find the torque τ applied to the object.
 Example 11.2:
The Torque Vector
! ! !
Torque, τ = r ´ F

( ) (
= é 4.00ˆi + 5.00ˆj m ù ´ é 2.00ˆi + 3.00ˆj N ù
ë û ë ) û
! é
=> τ = ë ( 4.00 )( 2.00 ) ˆ
i ´ ˆ
i + ( 4.00 )( 3.00 ) ˆ
i ´ ˆj
+ ( 5.00 )( 2.00 ) ˆj ´ ˆi + ( 5.00 )( 3.00 ) ˆj ´ ˆjùû N × m

! é
=> τ = ë 0 + 12.0kˆ - 10.0kˆ + 0 ùû N × m = 2.0kˆ N × m
11.2 Analysis Model: Nonisolated System
(Angular Momentum)
!
The instantaneous angular momentum L
of a particle relative to an axis through a
chosen origin O is defined by the cross product
of
! the particle's instantaneous position vector
r relative to that origin and its
! instantaneous
linear momentum p:
! ! !
L º r ´p
11.2 Analysis Model: Nonisolated System
(Angular Momentum)
! dp ! ! !
! ! ! dp
We know å F = => r ´ å F = å τ = r ´
dt dt
! !
d ! ! dr ! ! dp
But, (r ´ p) = ´ p + r ´
dt! dt dt !
d r ! d ! ! ! d p
And, ´ p = 0 Þ (r ´ p) = r ´
dt dt dt
! !
!
d r Therefore, d ! ! ! dp
´ p = 0 Þ (r ´ p) = r ´
dt dt dt
! !
! d (r ´ p)
å τ = dt
11.2 Analysis Model: Nonisolated System
(Angular Momentum)
So, we have seen:
! !
! dL ! dp
å τ = dt å F = dt
! ! !
L º r ´p
=> L = mvr sin f
! !
So, r " p Þ L = 0
! !
r ^ p Þ L = mvr
 Quick Quiz 11.2 Part I
A skater of mass m glides directly toward a pole with
speed v. What is her angular momentum relative to the
pole at the instant she is a distance d from the pole?
(a) zero
(b) mvd
(c) impossible to determine
 Quick Quiz 11.2 Part I
A skater of mass m glides directly toward a pole with
speed v. What is her angular momentum relative to the
pole at the instant she is a distance d from the pole?
(a) zero
(b) mvd
(c) impossible to determine

L = mvr sin f
=0 because ɸ = 180 deg.
 Quick Quiz 11.2 Part II
A skater of mass m glides at speed v along a straight
path that is offset by a perpendicular distance a from a
pole. What is her angular momentum relative to the
pole?
(a) zero
(b) mvd
(c) mva
(d) impossible to determine
 Quick Quiz 11.2 Part II
A skater of mass m glides at speed v along a straight
path that is offset by a perpendicular distance a from a
pole. What is her angular momentum relative to the
pole?
(a) zero
(b) mvd
(c) mva
(d) impossible to determine
 Example 11.3: Angular Momentum of a
Particle in Uniform Circular Motion
A particle moves at constant speed in the xy
plane in a circular path of radius r as shown
in the figure. Find the magnitude and direction
of its angular momentum relative ! to an axis
through O when its velocity is v.
 Example 11.3: Angular Momentum of a
Particle in Uniform Circular Motion
A particle moves at constant speed in the xy
plane in a circular path of radius r as shown
in the figure. Find the magnitude and direction
of its angular momentum relative ! to an axis
through O when its velocity is v.

L = mvr sin 90° = mvr

Direction of L is given by
right-hand rule. It is pointing
out of the screen towards you.
 Angular Momentum of a
System of Particles
• Newton’s second law for system of particles:
• Net external force on system of particles = time rate
of change of total linear momentum
! of system
! d p tot
å Fext = dt
Similarly, for a net angular momentum on system
of particles given by:
! ! ! ! !
L tot = L1 + L 2 + ... + L n = å L i
! ! i
d L d L !
We have, tot
=å i
= å τi
dt i dt i
Angular impulse- angular momentum theorem
(non-isolated system)

!
! dL tot
We have,
å τ ext =
dt

Integrating both sides over a certain time interval

during which an external torque is acting on the
system: ! !
ò ( å τ ) dt = DL
ext tot

This is the angular impulse–angular

momentum theorem in analogy with the
equation in linear motion.
11.2 Analysis Model: Nonisolated System
(Angular Momentum)

!
! dL tot
å τ ext =
dt
 Example 11.4:
A System of Objects
A sphere of mass m1 and a block of mass m2 are
connected by a light cord that passes over a pulley as
shown in the figure. The radius of the pulley is R, and
the mass of the thin rim is M. The spokes of the pulley
have negligible mass. The block
slides on a frictionless, horizontal
surface. Find an expression for
the linear acceleration of the two
objects, using the concepts of
angular momentum and torque.
 Example 11.4:
A System of Objects
Consider the Sphere+Pulley+Block as an isolated system. Then the only
external torque acting is due to the gravitational force on sphere m1.
Tot ang. momentum: L = m1vR + m2 vR + MvR = ( m1 + m2 + M ) vR
!
! dL tot
Now, å τ ext = where Stext = m1gR
dt
d
=> m1 gR = éë( m1 + m2 + M ) vR ùû
dt
dv
=> m1 gR = ( m1 + m2 + M ) R dt
m1 g
=> a =
m1 + m2 + M
 11.3 Angular Momentum of a
Rotating Rigid Object
We can write, L= rp = mvr = m(rω)r
So, angular momentum for an ith particle, Li = mi ri 2w = mi ( ri w ) ri
æ 2 ö
Total Lz = å Li = å mi ri w = ç å mi ri ÷ w
2

i i è i ø
=> Lz = I w
! !
In general, L = Iω
dL d w
So, z
=I = Ia
dt dt
åt ext = Ia
 Quick Quiz 11.3
A solid sphere and a hollow sphere have the same mass
and radius. They are rotating with the same angular
speed. Which one has the higher angular momentum?
(a) the solid sphere
(b) the hollow sphere
(c) both have the same angular momentum
(d) impossible to determine
 Quick Quiz 11.3
A solid sphere and a hollow sphere have the same mass
and radius. They are rotating with the same angular
speed. Which one has the higher angular momentum?
(a) the solid sphere
(b)the hollow sphere
(c) both have the same angular momentum
(d) impossible to determine

! !
L = Iω
I is larger for the hollow sphere.
 Example 11.5:
The Seesaw
A father of mass mf and his daughter of mass md sit on
opposite ends of a seesaw at equal distances from the
pivot at the center. The seesaw is modeled as a rigid
rod of mass M and length l, and is pivoted without
friction. At a given moment,
the combination rotates in a
vertical plane with an angular
speed w.
(A) Find an expression for
the magnitude of the system’s
angular momentum.
 Example 11.5:
The Seesaw
Total angular momentum L= Iω = (IR + If + Id) ω
2 2 2
1 æ!ö æ!ö ! æM ö
But, I = M ! + m f ç ÷ + md ç ÷ = ç + m f + md ÷
2

12 è2ø è2ø 4è 3 ø

IR
Therefore,
2
! æM ö
L = Iw = ç + m f + md ÷ w
4 è 3 ø
 Example 11.5:
The Seesaw
(B) Find an expression for the magnitude of the
angular acceleration of the system when the seesaw
makes an angle q with the horizontal.
 Example 11.5:
The Seesaw
1
Use åt ext = I a to calculate ⍺ where åt ext = t f +td = (
2
! "
Now, t f = m f g cos q ( τ f out of page )
2
! "
t d = -md g cos q ( τ d into page )
2
Therefore,
1
åt ext = t f -+ t d = 2 ( m f - md ) g ! cos q
Using a =
å t ext
and I derived before,
I
2 ( m f - md ) g cos q
=
! éë( M /3) + m f + md ùû
 Example 11.5:
The Seesaw
Imagine the father moves inward on the seesaw to a
distance d from the pivot to try to balance the two
sides. What is the angular acceleration of the system in
this case when it is released from an arbitrary angle q?
 Example 11.5:
The Seesaw
The new total I is given by,
2 2
1 æ!ö ! æM ö
I = M ! + m f d + md ç ÷ = ç + md ÷ + m f d 2
2 2

12 è2ø 4è 3 ø
1
And, åt ext = t f -+ t d = m f gd cos q - md g ! cos q
2
Angular acceleration,

a=
å t ext
= 2
( m f d - 2 md ! ) g cos q
1

I ( ! /4 ) éë( M /3) + m
d ùû + m f d
2
 Example 11.5:
The Seesaw
Where must the father sit for the seesaw to be balanced?
The seesaw is balanced when the angular acceleration is zero.

a=
( m d - m ! ) g cos q
f
1
2 d
=0
( ! /4 ) éë( M /3) + m ùû + m d
2
d f
2

æ md ö!
=> m f d - md ! = 0 ® d = çç
1
2 ÷÷
è mf ø2
 11.4 Analysis Model: Isolated System
(Angular Momentum)
The total angular momentum of a system is constant in both
magnitude and direction if the net external torque acting on
the system is zero, that is, if the system is isolated.
!
! d L tot
å τ ext = dt = 0
!
DL tot = 0
! ! !
L tot = constant or Li = L f
11.4 Analysis Model: Isolated System
(Angular Momentum)

L = I w and
!
L tot = constant

I iwi = I f w f = constant

Conservation of angular momentum.

 11.4 Analysis Model: Isolated System
(Angular Momentum)
For an isolated system: Energy, linear momentum, and
angular momentum of an isolated system are all constant.

DEsystem = 0 ( no energy transfers across system boundary )

!
Dp tot = 0 ( net external force on system is zero )
!
DL tot = 0 ( net external torque on system is zero )
 Quick Quiz 11.4
A competitive diver leaves the diving board and falls
toward the water with her body straight and rotating
slowly. She pulls her arms and legs into a tight tuck
position. What happens to her rotational kinetic
energy?
(a) It increases.
(b) It decreases.
(c) It stays the same.
(d) It is impossible to determine.
 Quick Quiz 11.4
A competitive diver leaves the diving board and falls
toward the water with her body straight and rotating
slowly. She pulls her arms and legs into a tight tuck
position. What happens to her rotational kinetic
energy?
(a) It increases.
(b) It decreases.
(c) It stays the same.
(d) It is impossible to determine.

KR= (1/2) Iω2 = (1/2) I (L/I)2 = (1/2) (L2/I)

L remains constant while I decreases.
 Example 11.6:
Formation of a Neutron Star
A star rotates with a period of 30 days about an axis
through its center. The period is the time interval
required for a point on the star’s equator to make one
complete revolution around the axis of rotation. After
the star undergoes a supernova explosion, the stellar
core, which had a radius of 10.0 km, collapses into a
neutron star of radius 3.0 km. Determine the period of
rotation of the neutron star.
 Example 11.6:
Formation of a Neutron Star

æ 2p ö æ 2p ö
I iwi = I f w f Þ Ii ç ÷ = If
çç ÷÷
è Ti ø è Tf ø
2
æ 2p ö æ
2 2p
ö æ Rf ö
=>
2
kMRi ç ÷ = kMR f çç ÷÷ Þ Tf = ç ÷ Ti
è Ti ø è Tf ø è Ri ø
(Assuming the mass of the star remain constant)
2
æ 3.0 km ö
÷ ( 30 days ) = 2.7 ´ 10 days
-6
So, T f = ç
è 1.0 ´ 10 km ø
4

= 0.23 s
 Example 11.7:
The Merry-Go-Round
A horizontal platform in the shape of a circular disk
rotates freely in a horizontal plane about a
frictionless, vertical axle. The platform has a mass M
= 100 kg and a radius R = 2.0 m. A student whose
mass is m = 60 kg walks slowly
from the rim of the disk toward its
center. If the angular speed of the
system is 2.0 rad/s when the
student is at the rim, what is the
angular speed when she reaches a
point r = 0.50 m from the center?
 Example 11.7:
The Merry-Go-Round
æ1 2ö æ1 ö
Again use, I iwi = I f w f Þ ç MR + mR ÷ wi = ç MR 2 + mr 2 ÷ w f
2

è2 ø è2 ø

æ 12 MR 2 + mR 2 ö
=> w f = ç 1 ÷ wi
è2 MR 2
+ mr 2
ø

æ 12 (100 kg )( 2.0 m )2 + ( 60 kg )( 2.0 m )2 ö

=> w f = çç 1 ÷ ( 2.0 rad/s )
÷
è 2 (100 kg )( 2.0 m ) + ( 60 kg )( 0.50 m )
2 2
ø
æ 440 kg × m 2 ö
2 ÷(
=ç 2.0 rad/s ) = 4.1 rad/s
è 215 kg × m ø
 Example 11.7:
The Merry-Go-Round
What if you measured the kinetic energy of the system before
and after the student walks inward? Are the initial kinetic energy
and the final kinetic energy the same?
1 1
K i = I iwi = ( 440 kg × m ) ( 2.0 rad/s ) = 880 J
2 2 2

2 2
1 1
K f = I f w f = ( 215 kg × m ) ( 4.1 rad/s ) = 1.80 ´ 10 J
2 2 2 3

2 2
Kinetic energy increases
But, the system is isolated!
The student must perform muscular activity to move herself closer
to the center of rotation, so this extra kinetic energy comes from
potential energy stored in the student’s body.
 Example 11.8:
Disk and Stick Collision
A 2.0-kg disk traveling at 3.0 m/s strikes a 1.0-
kg stick of length 4.0 m that is lying flat on
nearly frictionless ice as shown in the overhead
view of the top figure. The disk strikes at the
endpoint of the stick, at a distance r = 2.0 m
from the stick’s center. Assume the collision is
elastic and the disk does not deviate from its
original line of motion.
Find the translational speed of the disk, the
translational speed of the stick, and the angular
speed of the stick after the collision. The
moment of inertia of the stick about its center
of mass is 1.33 kg × m2.
 Example 11.9:
Disk and Stick Collision
!
Dp tot = 0 ® ( md vdf + ms vs ) - md vdi = 0
(1) md ( vdi - vdf ) = ms vs
!
DL tot = 0 ® ( - rmd vdf + I w ) - ( - rmd vdi ) = 0
( 2) - rmd ( vdi - vdf ) = I w
æ1 1 1 2ö 1
DK = 0 ® ç md vdf + ms vs + I w ÷ - md vdi 2 = 0
2 2

è2 2 2 ø 2
( 3) md ( vdi - vdf )( vdi + vdf ) = ms vs 2 + I w 2
Multiply (1) by r, rmd ( vdi - vdf ) = rms vs
and add to (2):
-rmd ( vdi - vdf ) = I w
We get 0 = rms vs + I w
 Example 11.8:
Disk and Stick Collision
rms vs
which gives 0 = rms vs + I w ® ( 4 ) w = -
I
md ( vdi - vdf )( vdi + vdf ) ms vs 2 + I w 2
Divide Eq (3) by Eq (1): =
md ( vdi - vdf ) ms vs
Iw 2
=> ( 5 ) vdi + vdf = vs + m v
s s

rms vs æ r 2 ms ö
Putting Eq (4) in Eq (5): w = - ® ( 6 ) vdi + vdf = vs ç1 + ÷
I è I ø
ms
From Eq (1) : md ( vdi - vdf ) = ms vs ® vdf = vdi - vs
md
Then, putting this value æ ms ö æ r 2 ms ö
of vdf in Eq (6), we get: ® vdi + ç vdi - m vs ÷ = vs ç1 + I ÷
è d ø è ø
 Example 11.8:
Disk and Stick Collision
æ ms ö æ r 2 ms ö ® v = 2vdi
vdi + ç vdi - vs ÷ = v s ç 1 + ÷ 1 + ( ms /md ) + ( r ms /I )
s 2
è md ø è I ø
2 ( 3.0 m/s )
vs = = 1.3 m/s
1 + (1.0 kg/2.0 kg ) + é( 2.0 m ) (1.0 kg ) /1.33 kg × m 2 ù
2
ë û

Then, w = -
rms vs ( 2.0 m )(1.0 kg )(1.3 m/s )
=- = -2.0 rad/s
I 1.33 kg × m 2

ms 1.0 kg
And, vdf = vdi - vs = 3.0 m/s - (1.3 m/s ) = 2.3 m/s
md 2.0 kg