System of Particles and Rotational Motion DESIGNED By Edustudy pointRigid Body: Rigid body is a body with a perfectly definite and unchanging shape. The distances between all pairs of particles of such a body do not change. In pure translational motion at any instant of time all particles of the body have the same velocity. In rotation of a rigid body about a fixed axis, every particle of the body moves ina circle, which lies ina plane perpendicular to the axis and has its centre on the axis. ‘The motion of a rigid body which is not pivoted or fixed in some way is either a pure translation or combination of translation and rotation, The motion of a rigid body which is pivoted or fixed in some way is rotation Centre of Mass: Imaginary point where the whole mass of system can be assumed t (Here m: & mz are two bodies such that &me at a distance xe from 0.) x) i cS my +m + The coordinates of centre of mass of a body is gi y.Z) Here, xa 2Me Me Smt uRS From 1 ton ‘the i* particle +The centre of mass of two boat oom + Pep ‘of the i* particle is given by (xi, y., 2). increase the number of elements n , the element size Dm, decreases , and po! of COM is given by: xieyjegk and R=Xivyj+z& ‘Then R= oe x, jinates of COM of small element dm sition of COM of body = position of COM of small element of mass dm Consider a thin rod of length |, taking the origin to be at the geometric centre of the rod and x-axis to be along the length of the rod, we can say that on account of reflection symmetry, for every element dm of the rod at x, there is an element of the same mass di located at -». The net contribution of every such pair to the integral and hence the integral x dm itself is zero, Thus the COM coincides with the geometric centre,The same symmetry argument will apply to homogeneous rings, discs, spheres, or even thick rods of circular or rectangular cress section: their centre of mass coincides with their geometric centre. Atcenter Atceater Atha he Feng Ateenter Motion of COM: The centre of moss of a system of particles mo 1 mass of the system was concentrated at the centre of mass and all the external forcé lied at that point. MR = Empn = myn + mat ma Differentiating ert time at Bh yy Bg oy A ae ae * a ar siemens y MAS may + marten t meee MA = Fea (Since the contri Wel forces is zero, because ‘they appear in pairs and cancel out each other) Where, M= Sim ‘com ofalpexternal forces acting on system of particles jreating extended bodies as single particles, we can now treat them as systems ‘+ When a bomb explodes ina parabolic path, different fragment goes in different path with complex trajectories, but COM continues to travel in the. ‘same parabolic path,Linear Momentum of System of Particles: The total momentum of a system of particles is equal to the product of the total mass of the system and the velocity of its COM. + Pept pet. + ps mov + mave + ...* Mn * PEM Where + pi= momentum of i* particle , + P= momentum of system of particles , + V= velocity of COM Newton's Second Law extended to system of particles: dP/dt = Fen. @ When the total external force acting on a system of particles is zero. fe total linear momentum of the system is constant (dP/dt = 0 => P = constant). A| of the centre of mass remains constant (Since P = mv = Constant ). Tf the total external force on a body is zero, then internal cause complex trajectories of individual particles but the COM moves with a constant Example: Decay of Ra atom into He atom & Rn Ate Case I - If Ra atom was initially at rest, yromn will have opposite direction of velocity, but the COM will remain at rest. before , then He and Rn can have complex Vector Product? Vector pr oduct) of two vectors a and b is ax b= ab sinO @ is angle between a &b + Vector pr ze cular to the plane containing a and b. Imin direction of vector a and curl your fingers to the ir thumb will give you the direction of vector product ¢. 8h product axbs bva axb=-bxa ax(b=c}=axb+axc axa=0, 0iscallednnll vector ¢ having zeromagnitade ixgj-€ Gxk=? kxtAngular velocity & its relation with linear velocity: Every particle of a rotating body moves in ‘a circle. Angular displacement of a given particle about its centre in unit time is defined as angular velocity. ‘+ Average angular velocity = AO/At ‘+ Instantaneous angular velocity, w = dO / dt + v=wr, where vis linear velocity of particle moving in a circle of radius r + All parts of a moving body have the same angular velocity in pure rotation motion. ‘+ Angular velocity (w) is a vector quantity + Tf you curl your fingers of right hand ini fotion, thumb, will give direction of angular velocity. & 6. + vewxr ‘Angular Acceleration is given by rate of chan city with respect to time, © a=dw/dt Torque & Angular Momentum The rotational analogue of force i force (Torque). * Ta force acts ona le at a point P whose position with respe in O is given by the position v it of the force acting on the particle the origin O is defined as the vector pr sx F=rF sind Te ‘tor quantity. The nloment of a force vanishes if either the magnitude of the force is zero, or the line of action of the force (r sin®) passes through the axis. ‘The quantity angular momentum is the rotational analogue of linear momentum, + Tr could also be referred to as moment of (linear) momentum. *P + Rotational analogue of Newton's second law for the translational motion of a single particle: di/st=Torque and angular momentum of system of particles: The total angular momentum of a system of particles about a given point is addition of the angular momenta of individual particles added vectorially. ETVAU A Pi BH Where ="): Similarly for total torque on a system of particles is addition of the torque on an individual particle added vectorially. oT X Fl = Test + Tine ‘The torque resulting from internal forces is zero , due to Newton's third law i e forces are equal and opposite, These forces act on the line joining any two particles ‘The time rate of the total angular momentum of a system of particles at is equal to +the sum of the external torques acting on the system taken about ae em Text Conservation of Angular Momentum: if the total external torque ona icles is zero, then the total angular momentum of the system is conserved © Tf tev= 0, then dL/dt = 0 Equilibrium of Rigid Bos +A force changes the translational state o in OF the rigid body, ie. it changes its total linear momentum, + A torque changes the rotatis ion of the rigid body, ie. it changes the total angular momentum of the body Note: Unless stated othery Zeal with only external forces and torques. © Arigid body is sai haniical equi bia i if both is near momentum and angular with time. oo Translational > ro Ra = 2 Res 6 i. | Rotational Equilibrium ‘Translational Equilibrium ‘A pair of equal and opposite forces with dif ferent lines of action is known as a couple or torque. A couple produces rotation without translation 2 Example: When you open the lid of a jar , you apply couple on it — hs+ Anideal lever is essentially a light rod pivoted at a point along its length. This point is called the fulerum + The lever is a system in mechanical equilibrium, Lod arm, ay a AE ‘+ Mechanical advantage greater than one means that a small ef fort can bi ge load. Centre of Gravity + The centre of gravity of a body is that point where the total “OS le on the body is zero. + Ttcoincides with the centre of mass in uniform gravity or ‘space. + If gvaries from part to part of the body, then the centre of and centre of mass will not coincide. eatin “i ‘+ Moment of inertia (I) is analogue of mass lal Motion. amin Moment of inertia about a gj is ‘ation resists a change in its rotational motion; it can be regarded as a measure of rtia of the body. Tr isa measure of th ch different parts of the body are distributed at different distances from the the mar rigid body depends on body, ize. Fon of mass about the axis of rotation to the moment of inertia of the body about the axis, T= MK where kis radius of gyration. Perpendicular Axis Theorem: The moment of inertia of a planar body (lamina) about an axis perpendicular to its plane is equal to the sum of its moments of inertia about two perpendicular axes concurrent with perpendicular axis and lying in the plane of the body. Leikely+ Applicable only to planar bodies. Parallel Axis Theorem: The moment of inertia of a body about any axis is equal to the sum of the moment of inertia of the body about a parallel axis passing through its centre of mass and the product of its mass and the square of the distance between the two parallel axes, Te Tee Ma? ‘+ This theorem is applicable to a body of any shape. Kinematics of Rotational Motion about a Fixed Axis + We can derive equation of motion similar to translational motion @} & Translational Motion Rotational Motfon Where awe nae > oa +at + Q.=initial angular displacement of therotaing body +c inital angular velocity of the body. + == angutaracceleration, whichis constants this section. We need to consider only those forces th rrpendicular to the axis. Forces which are parallel to the axis will give torques pecpet Loe 1 x= Fat sats hat Hott g a —> o-mrayte dat waster > oF =a? 4200-8) mamics of Rotational Motion about a Fi We need to consider only those c ‘the position vectors which are perpendicular to the. ‘axis. Components of position, 1 axis will result in torques perpendicular to the axis ‘Work dane by torque is given by: al Power (ustanneous)is gven by: ? ‘inetic Energy is given ty: = 2 207 ‘heratof merase ot tine eer is 2 (2) (This is considering the moment of inertia does not change with ime.) ‘Welnow that Wock Done is equalto Change in Kineis Ener, > Tesla certian Geely pert ee gel ain is inversely proportional to the moment of inertia of the body. > reife canbe called as Newen's secnd aw formation sbouta feds inear MotionRolling motion: Rolling motion is a combination of rotation and ‘translation. All the particles on a rolling body have two kinds of velocity + Translational, which is velocity of COM. yy Teaatne eat Linear velocity on account of rotational motion. Here in the figure we can see that every point have two velocities, one in the direction(@f velocity of COM and other perpendicular to the line joining centre and the point. + Point P, have opposite velocities , and i n BP no- slipping is there then it must have zen close Wom = wR + At point Pi both the velocities adt + At any other point, add bot! ies vectorially to get the resultant, which are shor the cases in red color in figure. +The line passing throu 1d parallel to w is called the. instantaneous axisef fotation. ‘The point Pois instantaneously at rest. Kinetic Energy of Rolling Motion KErang= KEremitin *KEvrten ne air wi, abn? = ra (ODUCK aR AION id eo Tb ‘KE= S mv8, 125 = 3 Mtl (145