CHAPTER

System of Particles and

6 Rotational Motion

CENTRE OF MASS OF A SYSTEM Net External Force

( S Internal force = 0)
=
OF ‘N’ DISCRETE PARTICLES M
 
n
 Fext = Ma cm

  
m r + m 2 r2 +  + m n rn 
∑m r  i i
1 n 
rcm = 1 1 =
m1 + m 2 +  + m n
; rcm =
i =1
n
, rcm ∑
M i =1
mi ri Impulse of a force F on a body is defined as:
∑ mi  tf  tf  
i =1 J= ∫
ti
F dt = ∫ti
dP = ∆P

CENTRE OF MASS OF A CONTINUOUS (Area under the Force vs time curve gives the impulse)
 
MASS DISTRIBUTION J = ∆P (impulse – momentum theorem)

x cm ℵ
∫ xdm , y cm
∫ ydm , z cm
∫ zdm Principle of conservation of linear momentum
∫ dm ∫ dm ∫ dm 
™ If, ∑ Fext( =

)
0 ⇒ (Pi )system =

(Pf )system
system

∫ dm = M(mass of the body) 1 1

™ (KE)system= (m1 v12 + m 2 v 22 + ...m n v n2 ) ≠ MVcom
2

2 2
MOTION OF CENTRE OF MASS AND
CONSERVATION OF MOMENTUM COEFFICIENT OF RESTITUTION (E)
Velocity of Centre of Mass of System Before collision After collision
    u1 u2 v1 v2
dν1 dr2 dr3 drn
m1 + m2 + m3  + mn
 dt dt dt dt
v cm = v 2 − v1
M e=
    u1 − u 2
m v + m 2 v 2 + m3 v3  + m n v n
= 1 1
M
  =e
Impulse of reformation
=
∫ F dt r
Psys = Mv cm Impulse of deformation ∫ F dt d

Acceleration of Centre of Mass of System Velocity of separation along line of impact

    =
dV1 dV2 dV3 dVn Velocity of approach along line of impact
m1 + m2 + m3  + mn
 dt dt dt dt
a cm = Pi + m 2 e(u 2 − u1 ) P + m1e(u1 − u 2 )
M V1 = , V2 = i
    m1 + m 2 m1 + m 2
m a + m 2 a 2 + m3 a 3 … + m n a n
= 1 1 ™ e=1
M
Net force on system  Impulse of Reformation = Impulse of Deformation
=
M  Velocity of separation = Velocity of approach
Net external force + Net internal force  Kinetic Energy is conserved in elastic collision.
=
M ™ e=0

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  Impulse of Reformation = 0 For a continuous object
 Velocity of separation = 0
∫=
dI ∫ r dm
2
=I
 Kinetic Energy is not conserved
 Perfectly Inelastic collision. where, dI = moment of inertia of a small element
™ 0<e<1 dm = mass of a small element
 Impulse of Reformation < Impulse of Deformation r = perpendicular distance of the particle from the axis
 Velocity of seperation < Velocity of approach
TWO IMPORTANT THEOREMS ON MOMENT
 Kinetic Energy is not conserved
 Inelastic collision. OF INERTIA
RIGID BODY Perpendicular Axis Theorem
Only applicable to plane lamina (that means for 2-D objects only)
IZ = IX + IY (when object is in x – y plane).

If the above body is rigid Parallel Axis Theorem

VA cos q1 = VB cos q2 (Applicable to any type of object) :
VBA = relative velocity of point B with respect to point A.
= VB sin q2 + VA sin q1

I = Icm + Md2

MOMENT OF INERTIA (I) RADIUS OF GYRATION (k)

Definition: Moment of Inertia is defined as the capability of
system to oppose the change produced in the rotational inertia of
a body.
Moment of Inertia is a scalar (positive quantity).
I = m1r12 + m2 r22 + …
= I1+I2 + I3 + …
SI unit of Moment of Inertia is Kgm2.
Moment of Inertia of
A single particle
I = mr2
IA = Mk2
where m = mass of the particle
r = perpendicular distance of the particle from the axis IA
k=
about which moment of Inertia is to be calculated M
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TORQUE IMPULSE OF TORQUE
    
τ= r×F
∫ τdt =∆J

∆J = Change in angular momentum.

Rolling Motion
1 2 1
Total kinetic energy = Mv CM + Icm ω2
2 2
Total angular momentum about O = MvCMR + Icmw, ⊗

   
P Mv
= CM Fexternal MaCM
Net external force acting on the body has two components
tangential and centripetal.
v2
FC= maC= m = mω2 rCM Ft= mat= mα rCM O
rCM

ROTATIONAL EQUILIBRIUM Pure Rolling (or Rolling without Slipping) On

For translational equilibrium. Stationary Surface
∑ Fx = 0 Condition: vcm = Rw
and ∑ Fy =
0 If vcm > Rw then rolling with forward slipping.
The condition of rotational equilibrium is If vcm < Rw then rolling with backward slipping.

∑ τ =0 Total kinetic energy in pure rolling

ANGULAR MOMENTUM ( L ) 1 2 1  v2  1 2  k2 
K total = Mv cm + (Mk 2 )  cm2 = Mvcm 1 + 2 
2 2 R  2  R 
Angular Momentum of a Particle About a Point
   Dynamics:
L= r × P
     
L = rP sin q τcm = Icm α, Fext = Ma cm , Psystem = Mv cm
L= r⊥ × P 1 1 v 
2
2
 Total=
K.E. Mv cm + Icm  cm 
L= P⊥ × r 2 2  R 
Pure rolling motion on an inclined plane
g sin θ
Acceleration a =
1+ k2 / R2
tan θ
Angular Momentum of a Rigid Body Rotating Minimum frictional coefficient µ min = 2 2
1+ R / k
about Fixed Axis  
LH = IHw Angular momentum about axis O = L about C.M. + L of
L H = angular momentum of object about axis H. C.M. about O
   
IH = Moment of Inertia of rigid object about axis H. L=O ICM ω + rCM × Mv CM
w = angular velocity of the object.

Conservation of Angular Momentum

Angular momentum of a particle or a system remains constant if
text = 0 about that point or axis of rotation.
Li = Lf ⇒ Iiwi = Ifwf

Relation Between Torque and Angular Momentum

dL
τ=
dt
Torque is change in angular momentum

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