Ch 6 System of particles and rotational motion

Part 1 : Centre of mass and rotational motion

Rigid body: The body in which distance between the particles does not change on applying
external force is called a rigid body.
Centre of mass: It is an imaginary point inside or outside of the material of the body where the
whole mass of the body is supposed to be concentrated and which behaves as if all the external
forces acting on the body act at this single point.

Center of mass of two particle system:

𝑚1 ⃗⃗⃗⃗
𝑟1 + 𝑚2 ⃗⃗⃗⃗
𝑟2
𝑟𝐶𝑀 =
⃗⃗⃗⃗⃗⃗
𝑚1 + 𝑚2
∴ eq of motion for centre of mass can be written as
𝑑2 ( ⃗⃗⃗⃗⃗⃗⃗⃗
𝑟𝐶𝑀 )
⃗⃗⃗
𝑓 =M
𝑑𝑡 2
M = 𝑚1 + 𝑚2 is the total mass of the system.

Discussion of the result:

1. If CM lies at the origin, ⃗⃗⃗⃗⃗⃗
𝑟𝐶𝑀 = 0
Eq (2) becomes, 𝑚1 ⃗⃗⃗
𝑟1 + 𝑚2 ⃗⃗⃗
𝑟2 = 0
𝑚1
or 𝑟2 = −
⃗⃗⃗ 𝑟
⃗⃗⃗ ----------(4)
𝑚2 1

It is clear that if ⃗⃗⃗

𝑟1 is –ve, then⃗⃗⃗
𝑟2 will be +ve and if ⃗⃗⃗
𝑟1 is +ve, then ⃗⃗⃗
𝑟2 will be –ve which means that if
one particle lies towards the left of origin, other particle will lie towards the right and vice versa
which means origin or CM always lies in between the two particles.
2. Taking modulus on both sides of eq (4)
𝑚 𝑚1
𝑟2 | = |− 𝑚1 ⃗⃗⃗⃗
|⃗⃗⃗⃗ 𝑟1 | or 𝑟2 = 𝑟
2 𝑚2 1
Or 𝑚1 𝑟1 = 𝑚2 𝑟2
𝑟1 𝑚2
Or 𝑟 = 𝑚 --------(5)
2 1

If𝑚1 > 𝑚2 , then 𝑟2 > 𝑟1 or 𝑟1 < 𝑟2

∴ CM lies near the heavier particle.
𝑟1
3. If 𝑚1 = 𝑚2 , then from eq (5), = 1 or 𝑟1 = 𝑟2
𝑟2
Then, CM will lie exactly at the centre of the line joining two particles.
4. If ⃗⃗⃗⃗
𝑣1 and 𝑣
⃗⃗⃗⃗2 arethe velocitiesof two particles, then velocity of centre of mass will be
𝑚1 ⃗⃗⃗⃗
𝑣1 + 𝑚2 ⃗⃗⃗⃗
𝑣2
𝑣𝐶𝑀 =
⃗⃗⃗⃗⃗⃗⃗
𝑚1 + 𝑚2

5. If ⃗⃗⃗⃗
𝑎1 and⃗⃗⃗⃗
𝑎2 arethe accelerationsof two particles, then acceleration of centre of mass will be
𝑚1 ⃗⃗⃗⃗⃗
𝑎1 + 𝑚2 ⃗⃗⃗⃗⃗
𝑎2
𝑎𝐶𝑀 =
⃗⃗⃗⃗⃗⃗⃗ --------(7)
𝑚1 + 𝑚2
Centre of mass of N particle system:
𝑚1 ⃗⃗⃗⃗
𝑟1 + 𝑚2 ⃗⃗⃗⃗
𝑟2
Position vector of centre of mass of two particle system is ⃗⃗⃗⃗⃗⃗
𝑟𝐶𝑀 =
𝑚1 + 𝑚2

Similarly, position vector of centre of mass of N particle system will be

𝑚1 ⃗⃗⃗⃗
𝑟1 + 𝑚2 ⃗⃗⃗⃗
𝑟2 + 𝑚3 ⃗⃗⃗⃗ 𝑟𝑁 ∑𝑁
𝑟3 + −−−−−+ 𝑚𝑁 ⃗⃗⃗⃗⃗ 𝑖=1 𝑚𝑖 ⃗⃗⃗
𝑟𝑖
𝑟𝐶𝑀 =
⃗⃗⃗⃗⃗⃗ = 𝑁
𝑚1 + 𝑚2 + 𝑚3 + −−−− + 𝑚𝑁 ∑𝑖=1 𝑚𝑖
1
𝑟𝐶𝑀 = ∑𝑁
⃗⃗⃗⃗⃗⃗ 𝑖=1 𝑚𝑖 ⃗𝑟𝑖
𝑀

Components of position vector of centre of mass: If 𝑥𝐶𝑀 , 𝑦𝐶𝑀 and𝑧𝐶𝑀 are x, y and
zcomponents of CMand 𝑥𝑖 , 𝑦𝑖 and𝑧𝑖 are the components of 𝑖 th particle, then
𝑟𝐶𝑀 = 𝑥𝐶𝑀 ̂𝑖 + 𝑦𝐶𝑀 ̂𝑗 + 𝑧𝐶𝑀 ̂
putting ⃗⃗⃗⃗⃗⃗⃗⃗⃗ 𝑟𝑖 = 𝑥𝑖 ̂𝑖 + 𝑦𝑖 ̂𝑗 + 𝑧𝑖 𝑘̂in eq (1),
𝑘 and ⃗⃗⃗⃗
1
𝑥𝐶𝑀 ̂𝑖 + 𝑦𝐶𝑀 ̂𝑗 + 𝑧𝐶𝑀 ̂
𝑘= ∑𝑁 𝑖 + 𝑦𝑖 ̂𝑗 + 𝑧𝑖 𝑘̂)
𝑖=1 𝑚𝑖 (𝑥𝑖 ̂
𝑀
Equating coefficients of ̂𝑖 , ̂𝑗 and𝑘̂on both sides,
1
𝑥𝐶𝑀 = ∑𝑁
𝑖=1 𝑚𝑖 𝑥𝑖
𝑀
1
𝑦𝐶𝑀 = ∑𝑁
𝑖=1 𝑚𝑖 𝑦𝑖
𝑀
1
𝑧𝐶𝑀 = 𝑀 ∑𝑁
𝑖=1 𝑚𝑖 𝑧𝑖

If system of particles is continuous, then Σ changes to ʃ ,𝑚𝑖 changes to dm, 𝑥𝑖 , 𝑦𝑖 , 𝑧𝑖 change tox,
y and z.
1
𝑟𝐶𝑀 = ∫ 𝑟 𝑑𝑚
PV of CM will be ⃗⃗⃗⃗⃗⃗
𝑀

And its components will become

1
𝑥𝐶𝑀 = ∫ 𝑥 𝑑𝑚
𝑀
1
𝑦𝐶𝑀 = ∫ 𝑦 𝑑𝑚
𝑀
1
𝑧𝐶𝑀 = ∫ 𝑧 𝑑𝑚
𝑀
Centre of mass of continuous bodies:

1. CM of a uniform rod: Consider a small portion of length dx at a distance x from origin.

Mass of length L of rod = M
M
Mass of length 1 of rod =
L
M
Mass of length dx of rod = dx
L
∴ M
dm = dx
L
1 1 M
Using 𝑥𝐶𝑀 = ∫ 𝑥 𝑑𝑚 = ∫𝑥 dx
𝑀 𝑀 L

1 𝐿 1 𝑥2 𝐿 1 2 𝐿
𝑥𝐶𝑀 = ∫ 𝑥𝑑𝑥 = | | 𝑀 = (𝐿 − 0) =
𝐿 0 𝐿 2 2𝐿 2
0
1 1 Mdθ
𝑦𝐶𝑀 = ∫ 𝑦 𝑑𝑚 = ∫ 𝑅 𝑠𝑖𝑛𝜃 ×
𝑀 𝑀 π
𝑅 𝜋 𝑅 𝜋 −𝑅 −𝑅 2𝑅
= ∫ 𝑠𝑖𝑛𝜃 𝑑𝜃 = |– 𝑐𝑜𝑠 𝜃|𝑀 = (cos 𝜋 − cos 0) = (−1 − 1) =
𝜋 0 𝜋 0 𝜋 𝜋 𝜋
2𝑅
∴ CM of semicircular ring lies at (0, )
𝜋

Centre of gravity:It is the point where the whole weight of

the body is supposed to be concentrated.

Methods to find CG:

1. By holding on the sharp knife edge or pinpoint.

2. By suspending the planer body at two different points on a
wall and drawing lines in vertical downward direction.The
point of intersection of these lines will give CG of body.

Note:CM and CG of a body coincide if the size of object is

very small as compared to radius of earth. CG will lie below
CM if size of body is comparable to that of earth.

CM of symmetrical objects lies exactly at their centres.

CM of some symmetrical objects are given in the table below.
Some examples of motion of centre of mass:
SNO OBJECT POSITION OF CM DIAGRAM

1 CM of a circular ring At the centre

2 CM of a circular disc At the centre

3 Hollow and solid At the centre on the

cylinders axis of cylinder
4 Plane triangular At the centroid
lamina

5 Plane rectangular Point of intersection of

lamina or in the diagonals
shape of //gm

6 Cube, cuboid or Point of intersection of

parallelopiped diagonals

7 Hollow or solid At the centre of

spheres sphere

8 Hollow conical body At the distance of h/3

from the base or 2h/3
from the vertex

9 Solid conical body At the distance of h/4

from the base or 3h/4
from the vertex

Que: Prove that if external force acting on a system is zero, then

(i) total linear momentum of the system remains constant
(ii) CM moves with a constant velocity.
⃗⃗⃗⃗⃗⃗
𝑑𝑃
Ans: (i) According to Newton's second law, ⃗⃗⃗ 𝐹 =
𝑑𝑡
⃗⃗⃗⃗⃗⃗
𝑑𝑃
If 𝐹⃗⃗⃗ = 0, then ⃗⃗⃗ = constant
= 0 or 𝑃
𝑑𝑡
Thus, total linear momentum of the system remains constant.
(ii) writing equation of motion for centre of mass
𝑑2 ( ⃗⃗⃗⃗⃗⃗⃗⃗
𝑟𝐶𝑀 ) 𝑑 𝑑 ⃗⃗⃗⃗⃗⃗⃗⃗
𝑟𝐶𝑀 𝑑 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐶𝑀
⃗⃗⃗
𝐹 =M = M ( ) = M
𝑑𝑡 2 𝑑𝑡 𝑑𝑡 𝑑𝑡
 𝑑 ⃗⃗⃗⃗⃗⃗⃗⃗⃗
𝑉𝐶𝑀
⃗⃗⃗ = 0,
If 𝐹 = 0 or ⃗⃗⃗⃗⃗⃗⃗
𝑉𝐶𝑀 = constant
𝑑𝑡
∴ if external force is zero, then CM moves with a constant velocity.
It means CM is affected only due to external force. Internal forces will have no effect on the CM of
the system.

Torque: The rotating action of a force is called torque. It is defined as the product of force and ⊥
distance of force from the axis of rotation. It is denoted by τ.
τ =F×d

Its units are Nm and dimensions (ML2T-2).

Torque plays same role in rotational motion as played by force in translational motion.
Torque in cartesian coordinate form:

τ=𝑥𝐹𝑦 − 𝑦𝐹𝑥
dW = τ𝑑𝜃

Torque in polar coordinate form:

τ=𝑟𝐹𝑠𝑖𝑛 𝜙
ϕ is the angle between ⃗⃗⃗
𝐹 and 𝑟⃗⃗ .
⃗⃗ | = |𝑟⃗⃗ × ⃗⃗⃗
It can be written as |𝜏 𝐹|

or 𝜏⃗⃗ = ⃗⃗𝑟 × ⃗⃗⃗𝐹

Direction of 𝜏⃗⃗ is ⊥ to both 𝑟⃗⃗ and ⃗⃗⃗
𝐹 and can be found by using right hand thumb rule.
Expression of torque can also be written as

τ=F×d
Thus, expression of torque τcan be found by using both equations.
i.e. no torque will be produced when force is applied parallel to the plank of the door.
Radial and transverse components of force:
Component of force along increasing 𝑟
⃗⃗ is called radial
component denoted by Fr = F cosϕ
Component of force along increasing 𝜃 is called
transverse component denoted by F𝛉 = F sin ϕ
From eq (5), τ=𝑟𝐹𝑠𝑖𝑛 𝜙 = 𝑟(𝐹𝑠𝑖𝑛 𝜙) = r ×Fθ---(8)
Thus, torque is produced only due to the transverse
component. Radial component plays no role in producing
torque.
Cartesian components of torque:
⃗⃗ = 𝑥 ̂𝑖 + 𝑦 ̂𝑗 + 𝑧𝑘̂
If 𝑟
𝐹 = 𝐹𝑥 ̂𝑖 + 𝐹𝑦 ̂𝑗 + 𝐹𝑧 𝑘̂
⃗⃗⃗
𝜏⃗⃗ = 𝜏𝑥 ̂𝑖 + 𝜏𝑦 ̂𝑗 + 𝜏𝑧 𝑘̂
Then from eq (6),
 ̂𝑖 ̂𝑗 𝑘̂
𝜏⃗⃗ = 𝑟⃗⃗ × ⃗⃗⃗
𝐹 = |𝑥 𝑦 𝑖 𝐹𝑧 − 𝑧 𝐹𝑦 ] − ̂𝑗 [𝑥 𝐹𝑧 − 𝑧 𝐹𝑥 ] + 𝑘̂[𝑥 𝐹𝑦 − 𝑦 𝐹𝑥 ]
𝑧 |= ̂[𝑦
𝐹𝑥 𝐹𝑦 𝐹𝑧

Or we can write it as
𝜏𝑥 ̂𝑖 + 𝜏𝑦 ̂𝑗 + 𝜏𝑧 𝑘̂ = ̂[𝑦
𝑖 𝐹𝑧 − 𝑧 𝐹𝑦 ] + ̂𝑗 [𝑧 𝐹𝑥 − 𝑥 𝐹𝑧 ] + 𝑘̂[𝑥 𝐹𝑦 − 𝑦 𝐹𝑥 ]
𝑖 ̂𝑗 and𝑘̂on both sides, we get
Equating coefficients of ̂,
𝜏𝑥 = 𝑦 𝐹𝑧 − 𝑧 𝐹𝑦

𝜏𝑦 = 𝑧 𝐹𝑥 − 𝑥 𝐹𝑧

𝜏𝑧 = 𝑥 𝐹𝑦 − 𝑦 𝐹𝑥

Power associated with torque: From eq (4), dW = τ𝑑𝜃

Dividing both sides by dt,
𝑑𝑊 𝑑𝜃
= τ
𝑑𝑡 𝑑𝑡

P = τω

This equation is similar to P = FV in translational motion.

Angular momentum: Angular momentum plays the same role in rotational motion as played
by linear momentum in translational motion.
It is equal to the product of linear momentum and ⊥ distance of linear
momentum from the axis of rotation. It is denoted by L.
L =P× d
Units are Kgm2s-1 and dimensions are [L] = [P] [d] = MLT-1× L = ML2T-1
Angular momentum in cartesian coordinate form: To find

L =𝑥𝑃𝑦 − 𝑦𝑃𝑥
𝑑𝐿
τ=
𝑑𝑡
Angular momentum in polar coordinate form:

L=𝑟𝑃𝑠𝑖𝑛 𝜙
⃗⃗⃗ and 𝑟⃗⃗ .
ϕ is the angle between 𝑃
⃗⃗⃗ | = |𝑟⃗⃗ × 𝑃
This equation can be written as |𝐿 ⃗⃗⃗ |

or ⃗⃗⃗ = ⃗⃗𝑟 × 𝑃
𝐿 ⃗⃗⃗
Direction of ⃗⃗⃗
𝐿 is ⊥ to both 𝑟⃗⃗ and⃗⃗⃗
𝑃 and can be found by using right hand thumb rule. In this case, it
will be along positive z axis.
𝑂𝑁 𝑑
In ∆ OKN, sin ϕ = =
𝑂𝑃 𝑟
 𝑑
Put in eq (5), L=𝑟𝑃 × =P×d
𝑟
L = P× d

Thus, expression of angular momentum L can be found by using both equations.

Radial and transverse components of linear

momentum:

Component of linear momentum along increasing 𝑟

⃗⃗ is
called radial component denoted by Pr = P cosϕ
Component of linear momentum along increasing 𝜃 is
called transverse component denoted by P𝛉 = Psin ϕ
From eq (5), L=𝑟𝑃𝑠𝑖𝑛 𝜙 = 𝑟(𝑃𝑠𝑖𝑛 𝜙) = r ×Pθ

Thus, angular momentum is produced only due to the transverse component of linear momentum.
Radial component plays no role in producing angular momentum.

Cartesian components of angular momentum:

⃗⃗ = 𝑥 ̂𝑖 + 𝑦 ̂𝑗 + 𝑧𝑘̂
If 𝑟
⃗⃗⃗ = 𝑃𝑥 ̂𝑖 + 𝑃𝑦 ̂𝑗 + 𝑃𝑧 𝑘̂
𝑃
𝐿 = 𝐿𝑥 ̂𝑖 + 𝐿𝑦 ̂𝑗 + 𝐿𝑧 𝑘̂
⃗⃗⃗
̂𝑖 ̂𝑗 𝑘̂
⃗⃗⃗ ⃗⃗⃗
𝐿 = 𝑟⃗⃗ × 𝑃 = | 𝑥 𝑦 𝑖 𝑃𝑧 − 𝑧 𝑃𝑦 ] − ̂𝑗 [𝑥 𝑃𝑧 − 𝑧 𝑃𝑥 ] + 𝑘̂[𝑥 𝑃𝑦 − 𝑦 𝑃𝑥 ]
𝑧 |= ̂[𝑦
𝑃𝑥 𝑃𝑦 𝑃𝑧

Or we can write it as
𝐿𝑥 ̂𝑖 + 𝐿𝑦 ̂𝑗 + 𝐿𝑧 𝑘̂ = ̂[𝑦
𝑖 𝑃𝑧 − 𝑧 𝑃𝑦 ] + ̂𝑗 [𝑧 𝑃𝑥 − 𝑥 𝑃𝑧 ] + 𝑘̂[𝑥 𝑃𝑦 − 𝑦 𝑃𝑥 ]

𝑖 ̂𝑗 and𝑘̂on both sides, we get

Equating coefficients of ̂,

𝐿𝑥 = 𝑦 𝑃𝑧 − 𝑧 𝑃𝑦

𝐿𝑦 = 𝑧 𝑃𝑥 − 𝑥 𝑃𝑧

𝐿𝑧 = 𝑥 𝑃𝑦 − 𝑦 𝑃𝑥
Physical meaning of angular momentum:
𝑑𝐴
L = 2m
𝑑𝑡
𝑑𝐴
is the rate at which area is swept by position vector 𝑟
⃗⃗ .It is called areal velocity of the particle.
𝑑𝑡
Thus, angular momentum of a particle is equal to twice the product of mass of the particle and its
areal velocity.
Equations of rotational motion:
Changing v →ω, u →ωo, a → α, S → θ just like in translational motion
(i) v = u + at
(ii) S = ut + ½ at2
(iii) v2 – u2 = 2aS
(iv) Dn = u + a/2 (2n – 1)

We can write equations in rotational motion as

(i) ω = ωo + α t
(ii) θ = ωo t + ½ α t2
(iii) ω2 – ωo 2 = 2 αθ
α
(iv) θn = ωo + (2n – 1)
2
Their derivations are also exactly similar to the equations of translational motion. We can use
calculus method.

Part 2 : Moment of inertia

KE of rotation of body: KE of rotation of a body is the energy possessed by the body on account
of its rotation about a given axis.
1 1 1 1
KE of rotation of body = 𝑚1 𝑣1 2 + 𝑚2 𝑣2 2 + 𝑚3 𝑣3 2 + -------- + 𝑚𝑁 𝑣𝑁 2
2 2 2 2
1 1 1 1
= 𝑚1 𝜔2 𝑟1 2 + 𝑚2 𝜔2 𝑟2 2 + 𝑚3 𝜔2 𝑟3 2 + ---------- + 𝑚𝑁 𝜔2 𝑟𝑁 2
2 2 2 2
1 2 2 2
= (𝑚1 𝑟1 + 𝑚2 𝑟2 + 𝑚3 𝑟3 + − − − − − − − −
2
2) 2
+ 𝑚𝑁 𝑟𝑁 𝜔
1
= ( ∑𝑁 2
𝑖=1 𝑚𝑖 𝑟𝑖 ) 𝜔
2
2
1
= Iω2
2
Where I= ∑𝑁 2
𝑖=1 𝑚𝑖 𝑟𝑖 is called moment of inertia (MI) of the body.

1
∴ KE of rotation = Iω2
2

Moment of inertia (𝐈):As I = ∑𝑁 2

𝑖=1 𝑚𝑖 𝑟𝑖

Thus, moment of inertia of a body about a given axis is defined as the sum of products of masses
of all the particles of body and square of their ⊥ distances from the axis of rotation.
When the body has continuous distribution of mass, then ∑ 𝑁changes to ∫., 𝑟𝑖 to r
and
𝑚𝑖 to dm. ∴ I = ∫ r 2 dm

Units of I:AsI= ∑𝑁
𝑖=1 𝑚𝑖 𝑟𝑖
2

∴units of MI are Kgm2.

Dimensions of I:[I] = [𝑟 2 ][𝑑𝑚] = [𝑀𝐿2 ]

Physical significance of moment of inertia:If we compare two equations
1
(i) KE of translation = 𝑚𝑣 2 and
2
 1
(ii) KE of rotation = Ι𝜔 2
2
we observe that angular velocity ωin angular motion is analogous to linear velocity v in
translational motion.KE of translation is equivalent to KE of rotation.∴ moment of inertia Ιis
analogous to mass m in linear motion.
Thus, moment of inertia Ι plays the same role in rotational motion as mass m plays in translational
motion.
Now, mass m is the measure of inertia of the body i.e. more is the mass, more difficult it will be to
start or stop a body.Since a = F/m will be small.
Similarly, Ι will be the measure of rotational inertia of the body i.e. more is the value of Ι, more
difficult it will be to rotate a body at rest and to stop a rotating body.

Radius of gyration:The radius of gyration of a body about a given axis is defined as the distance
of a point P from the axis where ifwhole mass of the body were concentrated, the body will have
the same moment of inertia as with the actual distribution of mass.
𝑟1 2 + 𝑟2 2 + −−−−−−−− + 𝑟𝑁 2
K=√ 𝑁

Radius of gyration is equal to root mean square distance of the constituent particles of the body
from the given axis.
Moments of inertia of some regular shaped bodies about specific axes

Relation between torque (τ) and moment of inertia (Ι):

𝜏=Ι𝛼
This is same relation as 𝐹 = m𝑎 in translational motion.
Relation between angular momentum (L) and moment of inertia (Ι):
𝐿⃗=Ι𝜔
⃗
⃗ = m𝑣 in translational motion.
This is same relation as 𝑃
Relation between torque (τ) and angular momentum (L):
𝑑𝐿⃗
𝜏 =
𝑑𝑡
𝑑𝑃⃗
This is the same relation as 𝐹 = in translational motion.
𝑑𝑡

Law of conservation of angular momentum:

According to this principle, when no external torque on a system of particles, then the total angular
momentum of the system remains a constant.
⃗
𝑑𝐿
Proof: We know, 𝜏 =
𝑑𝑡
⃗
𝑑𝐿
If 𝜏 = 0, then = 0or 𝐿⃗= constant
𝑑𝑡
⃗ =Ι𝜔
Also, 𝐿 ⃗ = constant
∴𝐼1 𝜔1 = 𝐼2 𝜔2
Thus, more is the value of Ι, lesser will be ω and vice versa.

KE of a rolling body:

Since a rolling body is rotating as well as translating.

∴𝐸𝑟𝑜𝑙𝑙𝑖𝑛𝑔 = 𝐸𝑡𝑟𝑎𝑛𝑠𝑙𝑎𝑡𝑖𝑜𝑛𝑎𝑙 + 𝐸𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙
1 1
𝐸𝑟𝑜𝑙𝑙𝑖𝑛𝑔 = MV2 + Iω2
2 2
1 2
1 V2
𝐸𝑟𝑜𝑙𝑙𝑖𝑛𝑔 = MV + I 2
2 2 R
Putting 𝐼 = MK 2
2
1 2
1 MK2 V
𝐸𝑟𝑜𝑙𝑙𝑖𝑛𝑔 = MV +
2 2 R2
 1 2
K2
𝐸𝑟𝑜𝑙𝑙𝑖𝑛𝑔 = MV [1 + ]
2 R2

Motion of a cylinder down an inclined plane:

The various forces acting on the cylinder are shown in the figure. It is clear that
R = mg cosθ ----------(1)
Writing equation of motion of the cylinder about the horizontal
mg sinθ – F = ma ----------(2)
From figure, it is clear that mg and R are the radial forces and cannot produce the rotating effect.
The frictional force F is responsible to produce rotating effect.
∴ torque produced by force F,
τ = F × r ----------(3)
𝑎
τ= Iα =I ----------(4) { ∵ a = αr , α =a/r}
𝑟
𝑎
Equating eq (3) and (4), F × r = I
𝑟
𝐼𝑎
Or 𝐹= ----------(5)
𝑟2

Put this value in eq (2),

𝐼𝑎
mg sinθ – 2 = ma
𝑟
𝐼
mg sinθ = 𝑎(𝑚 + )
𝑟2
mg sinθ g sinθ
a= 𝐼 or a= ---------(6)
𝑚+ 2 𝐼
𝑟 1+ 2
𝑚𝑟

1
In the case of solid cylinder: 𝐼= 𝑚𝑟 2
2
g sinθ g sinθ 2
Put in eq (6), a =
𝑚𝑟2
= 1 = 3 g sinθ-----------(7)
1+ 1+
2𝑚𝑟2 2

∴a < g
Put the values of 𝐼 and a in eq (5),
1 2
2
𝑚𝑟2 × 3g sinθ 1
𝐹= = 𝑚g sinθ--------(8)
𝑟2 3
∴F<mg
𝐹 1 𝑚g sinθ 1
From eq (1) and (8), coefficient of friction is given by μ =
𝑅
=
3 𝑚g cosθ
=3 tanθ
1 --------(9)
μ= tanθ
3
Question: A ring, disc and a solid sphere are allowed to roll down an inclined plane
simultaneously.
(i) Which of them will reach the bottom earliest?
(ii) Which will reach the bottom with largest velocity?
Answer: We know, acceleration of the body down the inclined plane is
g sinθ
a= 𝐼
1+ ------------ (1)
𝑚𝑟2

Now, 𝐼𝑟𝑖𝑛𝑔 = 𝑚𝑟 2
1
𝐼𝑑𝑖𝑠𝑐 = 𝑚𝑟 2 = 0.5 𝑚𝑟2
2
2
𝐼𝑠𝑝ℎ𝑒𝑟𝑒 = 𝑚𝑟 2 = 0.4 𝑚𝑟 2
5
Here, 𝐼𝑠𝑝ℎ𝑒𝑟𝑒 < 𝐼𝑑𝑖𝑠𝑐 < 𝐼𝑟𝑖𝑛𝑔
∴𝒂𝒔𝒑𝒉𝒆𝒓𝒆 > 𝒂𝒅𝒊𝒔𝒄 > 𝒂𝒓𝒊𝒏𝒈
Using, S = ut + ½ at2
ℎ 1 g sinθ
sin 𝜃
=0+ (
2 𝐼 ) ×𝑡 2
1+ 2
𝑚𝑟

𝐼
2ℎ
------------ (2)
(1 + 𝑚𝑟 2 )
𝑡= √
𝑔𝑠𝑖𝑛2 𝜃

Since, 𝐼𝑠𝑝ℎ𝑒𝑟𝑒
< 𝐼𝑑𝑖𝑠𝑐 < 𝐼𝑟𝑖𝑛𝑔
∴ 𝒕𝒔𝒑𝒉𝒆𝒓𝒆 < 𝒕𝒅𝒊𝒔𝒄 < 𝒕𝒓𝒊𝒏𝒈
Thus, sphere will reach the bottom earliest and ring latest.
Using, V = u + at

𝐼
g sinθ 2ℎ(1+ ) 2𝑔ℎ
V=0+ 𝐼 ×√ 𝑚𝑟2
=√ 𝐼
1+ 2 𝑔𝑠𝑖𝑛2 𝜃 (1+ )
𝑚𝑟 𝑚𝑟2

2𝑔ℎ
Thus, V=√ 𝐼 ------------(3)
(1+ )
𝑚𝑟2

Since, 𝐼𝑠𝑝ℎ𝑒𝑟𝑒
< 𝐼𝑑𝑖𝑠𝑐 < 𝐼𝑟𝑖𝑛𝑔
∴ 𝑽𝒔𝒑𝒉𝒆𝒓𝒆 > 𝑽𝒅𝒊𝒔𝒄 > 𝑽𝒓𝒊𝒏𝒈
Thus, sphere will reach the bottom fastest and ring slowest.
Laws of rotational motion:Corresponding to Newton's three laws of translational motion, we can
state three laws of rotational motion.
1. A body continues to be in a state of rest or uniform rotation unless an external torque acts on
it.2. The rate of change of angular momentum of a body is directly proportional to the external
torque applied on it.
3.When a rigid body A exerts a torque on another rigid body B in contact with it, then the body B
will exert an equal and opposite torque on body A.
 Equilibrium of rigid bodies:A rigid body is said to be in perfect equilibrium if it possesses the
following two kinds of equilibrium.
(A) Translational equilibrium: The body is said to be in translational equilibrium if the CM does not
change its state of motion.This is possible only if total external force acting on the body is zero.

i.e. ⃗⃗⃗
𝐹 𝑒𝑥𝑡 = 0
⃗⃗⃗⃗⃗
𝑑𝑃 𝑑 ⃗⃗⃗⃗⃗
𝑑𝑣
⃗⃗⃗
Also from Newton’s second law, 𝐹 = = (𝑚𝑣
⃗⃗⃗ ) = 𝑚
𝑑𝑡 𝑑𝑡 𝑑𝑡
⃗⃗⃗⃗⃗
𝑑𝑣
⃗⃗⃗ = 0, then
If 𝐹 = 0, or 𝑣 ⃗⃗⃗ = constant
𝑑𝑡
It means velocity of CM does not change i.e. if it is at rest, it will remain at rest and if it is in motion
with some velocity, then it will keep on moving with same velocity.This is the condition for
translational equilibrium.
If the CM of the body is at rest, equilibrium is said to be static equilibrium.
If the CM of the body is in uniform motion, equilibrium is said to be dynamic equilibrium.

The translational static equilibrium is of three types:

1. Stable equilibrium:When the body tries to regain its equilibrium position, after being disturbed
slightly and released, the equilibrium is said to be stable.Here the potential energy will be
minimum. Example:A simple pendulum, mass attached to a spring

2. Unstable equilibrium:When the body gets further displaced after being slightly displaced and
released, the equilibrium is said to be unstable.Here, potential energy of body will be
high.Example:Stone given a small push placed at the top of a steep hill, a rod standing vertically
on the ground on its one end.

3. Neutral equilibrium:When the body can stay in equilibrium even after being slightly displaced
and released, the equilibrium is said to be neutral.
Example: An object placed on a flat table, plane ground.
(B)Rotational equilibrium:A body is said to be in rotational equilibrium if it does not change its state
of rotational motion, this is possible only if external torque acting on the body remains zero.

i.e. 𝜏⃗⃗ 𝑒𝑥𝑡 = 0

⃗⃗⃗⃗⃗
𝑑𝐿 𝑑 ⃗⃗⃗⃗⃗⃗
𝑑𝜔
Also from Newton’s second law, 𝜏
⃗⃗ = = (𝐼𝜔
⃗⃗⃗⃗ ) = 𝐼
𝑑𝑡 𝑑𝑡 𝑑𝑡
⃗⃗⃗⃗⃗⃗
𝑑𝜔
⃗⃗ = 0, then
If 𝜏 = 0, or 𝜔 ⃗⃗⃗⃗ = constant
𝑑𝑡
Thus, a body is said to be in rotational equilibrium, if angular momentum of the body remains
same.It means a body at rest will remain at rest and a body in rotation with some angular velocity
will keep on rotating with same angular velocity.

Table of analogy between linear and rotational motion:

SNo Translational motion Rotational motion

1 Distance/Displacement (S) Angle or angular displacement (θ)

2 Linear velocity, v = ds/dt Angular velocity, ω = dθ/dt

Linear acceleration, Angular acceleration,

3 𝑑2 𝑆 𝑑𝑆 𝑑2 𝜃 𝑑𝜃
a = dv/dt = 2 {∵ v = } α = dω/dt = {∵ω = }
𝑑𝑡 𝑑𝑡 𝑑𝑡 2 𝑑𝑡
4 Mass (m) Moment of inertia (𝐼)

5 Linear momentum, P = mv Angular momentum, L = 𝐼𝜔

𝑑𝑣 𝑑𝜔
6 Force, F = ma = m Torque, τ = 𝐼𝛼 = 𝐼 𝑑𝑡
𝑑𝑡

⃗⃗⃗⃗⃗
𝑑𝑃 ⃗⃗⃗⃗⃗
𝑑𝐿
7 Also Force, ⃗⃗⃗
𝐹 = Also Torque, 𝜏⃗⃗ =
𝑑𝑡 𝑑𝑡

8 Translational KE, E = ½ mv2 = P2/2m Rotational KE, E = ½ Iω2 = L2/2I

9 Work done, W = FS Work done, W = τθ

𝑑𝑊 𝑑𝑊
10 Power, P = =𝐹 ×𝑣 Power, P = =𝜏 ×𝜔
𝑑𝑡 𝑑𝑡

Law of conservation of LM: If external force Law of conservation of AM: If external

11 is zero, then total LM of the system remains torque is zero, then total AM of the system
conserved. remains conserved.

Three equations of translational motion: Three equations of rotational motion:

(i) v = u + at (i) ω = ωo + αt
12
(ii) S = ut + ½ at2 (ii) θ = ωot + ½ αt2

(iii) v2 – u2 = 2aS (iii) ω2 – ωo2 = 2αθ

Distance covered in nth second: Angle traced in nth second:

13
Dn = u + a/2 (2n – 1) θn = ωo + α/2 (2n – 1)

For translational equilibrium:

For rotational equilibrium:
14 ⃗⃗⃗
𝐹 𝑒𝑥𝑡 = 0or 𝑣
⃗⃗⃗ 𝐶𝑀 = constant
𝜏⃗⃗ 𝑒𝑥𝑡 = 0or 𝜔
⃗⃗⃗⃗ = constant

QUESTIONNAIRE

Multiple Choice Questions (One-mark questions)

Q1. The centre of mass of a system shall be
(a) At the centre of the system
(b) outside the system
(c) inside the system
(d) inside or outside the system
Q2. Unit of centre of mass in SI is (a) m (b) kg m2 (c) kg m (d) kg
Q3. A shell at rest explodes .The centre of mass of the fragments
(a) moves along a parabolic path
(b) moves along an elliptical path
(c) moves along a straight line
(d) remains at rest
Q4. The separation between carbon and oxygen molecules in CO is 0.12nm.What is the distance
of the centre of mass from the carbon atom?
(a) 0.03 nm (b) 0.05 nm (c) 0.07 nm (d) 0.06 nm
Q5.Consider a system of two identical particles .one of the particles is at rest and other has an
acceleration 𝑎 .The centre of mass has an acceleration
1
(a) zero (b) 2 𝑎 (c) 𝑎 (d) 2𝑎

Q6. Two balls are thrown simultaneously in air. The acceleration of the centre of mass of the two
balls, while in air
(a) Depends on the direction of the motion of the balls.
(b) Depends on the masses of the two balls.
(c) Depends on the speeds of the two balls.
(d) Is equal to g.
⃗ may be
Q7. The magnitude of the vector product of two vectors 𝐴 and 𝐵
(a) Greater than AB (b) equal to AB (c) less than AB (d) equal to zero.
⃗ =I𝐴 × 𝐵
Q8. If 𝐴.𝐵 ⃗ I, then the angle between 𝐴 and 𝐵
⃗ is
𝜋 𝜋
(a) Zero (b) (c) 𝜋 (d)
2 4
⃗ equals the scalar product .The
Q9.The magnitude of the vector product of two vectors 𝐴 and 𝐵
square of the sum of these vectors is
1 1 1
(𝑎) (A+B) (b) A2+B2 + AB (c) A2+B2 +√2 AB (d) A2+B2 +2 AB
√2 √2

Q10.When a steady torque is acting on a body, the body

(a) Continues in its state of rest or uniform motion along a straight line.
(b) Gets linear acceleration.
(c) Gets angular acceleration
(d) Rotates at a constant speed.
Q11. If there is no external force acting on a non-rigid body, which of the following quantities must
remain constant?
(a) Angular momentum (b) linear momentum (c) kinetic energy (d) moment of inertia
Q12. The moment of momentum is called
(a) Couple (b) torque (c) impulse (d) angular momentum.
Q13. Angular momentum of a body is defined as the product of
(a) Mass and angular velocity
(b) centripetal force and radius
(c) linear velocity and angular velocity
(d) moment of inertia and angular velocity.
Q14.The unit of angular momentum is
(a) N m (b) kg m-1 s-1 (c) kg m2 s-1 (d) kg2 m2 s-1
Q15.Relation between torque and angular momentum is similar to the relation between
(a) Acceleration and velocity (b) mass and moment of inertia
(c) force and momentum (d) energy and displacement
Q16. In the absence of external torque on a system, which of the following will not change?
(a) Linear momentum only (b) Angular momentum only
(c) Both linear momentum and angular momentum (d) Neither linear nor angular momentum
Q17.When torque acting upon a system is zero, which of the following will be constant?
(a)Force (b) Linear momentum (c) Angular momentum (d) Linear impulse.
Q18.Two unequal wheels are connected by a belt. The radius of larger wheel is three times that of
smaller one. If the two wheels have the same angular momentum, then the ratio of the rotational
inertia of larger wheel to that of smaller wheel is
(a) 3 (b) 6 (c) 9 (d) 12
Q19. The moment of inertia of a body does not depend upon
(a) Axis of rotation (b) mass (c) distribution of mass (d) angular velocity
Q20. Generally the mass of a fly wheel is on its rim. Why?
(a)To increase the moment of inertia (b) To decrease the moment of inertia
(c) To obtain stable equilibrium (d) To obtain a strong wheel
Q21. The radius of gyration of a body having uniform distribution of mass is independent of
(a) Mass of the body
(b) nature of distribution of mass
(c) axis of rotation
(d) none of the above
Q22. If M is the mass of the disc and R, its radius of gyration; then moment of inertia is
1 2 5
given by (a) MR2 (b) M R2 (c) M R2 (d) M R2
2 5 2
Q23. The radius of gyration of a ring of radius R about an axis through its centre and
perpendicular to its plane is
(a) 5R /√2 (b) R /2 (c) R (d) R /√2
Q24. Which of the following type of wheels of same mass and radius will have largest moment of
inertia? (a) Ring (b) Annular disc (c) Solid disc (d) Cylindrical disc
Q25. The radius of gyration of uniform rod of length L and mass M about an axis passing through
𝐿2 𝐿 𝐿 𝐿
its centre and perpendicular to its length is (a) (b) (c) (d)
12 2√3 2 √2
Q26. Two circular discs have masses in the ratio of 1:2 and diameter in the ratio of their moment
of inertia is (a)1 (b) 2 (c) 4 (d) 8
Q27. Moment of inertia of a sphere about an axis tangential to its surface is
 2 2 7 5
(𝑎) 3 M R2 (b) M R2 (c) M R2 (d) M R2
5 5 3
Q28. A homogeneous disc of mass 2 kg and radius 15 cm is rotating about its axis (which is fixed)
with an angular velocity of 4 rad s-1. The linear momentum of the disc is
(a) 1.2 kg m s-1 (b) 1.0 kg m s-1 (c) 0.6 kg m s-1 (d) none of the above

Q29. If I,𝛼 and 𝜏 are the moment of inertia , angular acceleration and torque respectively of a
body rotating about any axis with angular velocity 𝜔 , then
(𝑎)𝜏 = I 𝛼 (b) 𝜏 = I 𝜔 (c) I = 𝜏𝜔 (d) 𝛼 = I𝜔

Q30.The angular momentum of a body of moment of inertia is I , Its kinetic energy is

𝐿
2 𝐿 𝐿2 1
(𝑎) 𝐼 (b) (c) (d) 𝐼𝐿2
2𝐼 2𝐼 2
Q31.The total kinetic energy of a thin circular ring of mass M rolling on a smooth horizontal table
with uniform linear speed v is
1 1 3
(𝑎) 2 𝑀𝑣 2 (b) 𝑀𝑣2 (c) 𝑀𝑣2 (d) 𝑀𝑣 2
4 4
Q32.If a gymnast sitting on a rotating stool with his arms stretched, suddenly lowers his hands,
(a) The angular velocity decreases (b) his moment inertia decreases
(c) the angular velocity stays constant (d) the angular momentum increases.
Q33. A man is standing at the centre of a rotating turn table with his arms stretched .If he draws
his arms inwards and thereby reduces his moment of inertia by a factor k, the angular speed of
the turn table
(a) remains constant (b) increases by a factor k
(c) decreases by a factor k (d) decreases by a factor of 𝑘 2
Q34.Spokes are used in a cycle wheel
(a) To increase the strength of the wheel (b) to increase the moment of inertia of the wheel (c) to
give better shape to the wheel (d) None of these.
Q35. The moment of inertia about the symmetry axis of a solid circular disc of radius r equals that
of a hollow disc with internal and external radii r and R respectively. Then,
(a)R = 10189r (b) R = 10257r (c) R = 1.414r (d) 2r
Q36.A solid sphere, a disc and a ring all of the same mass and made of the same material are
allowed to roll down (from rest) on the inclined plane. Then,
(a) the solid sphere reaches the bottom first
(b) the solid sphere reaches the bottom last
(c) disc will reach the bottom first
(d) all reach the bottom at the same time.
Q37. A sphere cannot roll on
(a) a smooth and horizontal surface (b) a rough and horizontal surface
(c) a smooth inclined surface (d) a rough inclined surface.
Q38. A small disc of radius 2 cm is cut from a disc of radius 6cm. If the distance between their
centres is 3.2 cm, what is the shift in the centre of mass of the disc?
(a) 0.4cm (b) 2.4 cm (c) 1.8 cm (d) 1.2 cm
⃗ have angle 𝜃 between them, then the vector product has magnitude
Q39. If vectors 𝐴 and 𝐵
(a) AB 𝑐𝑜𝑠𝜃 (b) AB 𝑠𝑖𝑛 𝜃 (c) AB (d) A× 𝐵 × 𝑐𝑜𝑠𝜃
Q40. In which of the following cases, the use of angular velocity is useful?
(a) When velocity is in a straight line (b) When a body is rotating
(c) When with a constant linear acceleration (d) None of these
Q41. A satellite of mass m is circulating around the earth with constant angular velocity ω. If
radius of the orbit is R and mass of earth is M, then angular momentum of satellite is

(𝑎)𝑀√𝐺𝑚⁄𝑅 (b) 𝑚√𝐺𝑀⁄𝑅 (c)𝑀√𝐺𝑚𝑅 (d) 𝑚√𝐺𝑀𝑅

Q42. The moment of inertia of a body comes into play

(a) In motion along a curved path (b) in linear motion (c) in rotational motion (d) none of above
Q43. The moment of inertia of a rigid body,depends upon:
(a) distribution of mass from axis of rotation
(b) angular velocity of the body
(c) angular acceleration of the body
(d) mass of the body.
Q44. The moment of inertia of a regular circular disc of mass 0.4kg and radius 1 m about the axis
perpendicular to the plane of the disc and passing through its centre is:
(a) 0.002 kg m2 (b) 0.02 kg m2 (c) 2.0 kg m2 (d) 0.2 kg m2
Q45. A cylinder of 500 g and radius 10 cm has the moment of inertia (about its natural axis)
(a) 6.5× 10-3 kg m2 (b) 2.5×10-3 kg m2 (c) 5.2×10-3 kg m2 (d) 7.1×10-3 kg m2
Q46. Three point masses, each of mass M, are placed at the corners of an equilateral triangle of
side L. The moment of inertia of this system about an axis along one side of the triangle is
1 3 3
(a) 𝑀𝐿2 (b) 𝑀𝐿2 (c) 𝑀𝐿2 (d) 𝑀𝐿2
3 2 4
Q47. A wheel of 6kg mass and 0.40m radius of gyration is making 300 rpm. Its moment of inertia
will be (a) 9.6 kg m2 (b) 0.96 kg m2 (c) 2.4 kg m2 (d) 96.0 kg m2
Q48. If the radius of earth becomes half its present value ,the new length of day will be:
(a) 6 h (b) 12 h (c) 18 h (d) 48 h
Q49. A circular disc is rotating with angular velocity 𝜔. If a man standing at the edge of the disc
walks toward its centre .Then, the angular velocity of the disc:
(a) Is not changed (b) is halved (c) decreases (d) increases
Q50. When a mass is rotating in a plane about a fixed point , its angular momentum is directed
along (a) the radius (b) the tangent to the orbit (c) the axis of rotation (d) the line at an angle of 450
to the plane of rotation.
 Two Marks Questions
Q1. Define the cross product of two vectors?
Q2. Show that 𝐴 × 𝐴 = 0
Q3. What is the condition for two vectors to be parallel to each other?
⃗ = 0, what can be said about the vectors 𝐴 and 𝐵
Q4. If𝐴 × 𝐵 ⃗ ?
⃗ is 600. What is the ratio of 𝐴.𝐵
Q5. The angle between vectors 𝐴 and 𝐵 ⃗ and I 𝐴 × 𝐵
⃗ I?
Q6. Do the internal forces affect the motion of a system under the effect of some external forces?
Q7. What do you mean by a rigid body?
Q8. What is meant by torque in rotational motion?
Q9. What is torque? Give its S.I. unit.
Q10. Define angular momentum. Give its SI unit.
Q11. Mention some properties of cross product.
Q12. Find the condition for two vectors to be (i) parallel (ii) perpendicular to each other .
⃗ = 2𝑖̂ – 10 𝑗̂ is zero.
Q13. Show that the angle between 𝐴 = 𝑖̂ - 5𝑗̂ and 𝐵
⃗ =𝐶×𝐵
Q14. If 𝐴 × 𝐵 ⃗ , show that 𝐶 need not be equal to 𝐴 . When will 𝐴
⃗⃗⃗ be qual to 𝐶 ?
Q15. Explain, why it is difficult to open a door by pushing or pulling it near the hinge?
Q16. While turning the page of a book, we usually apply force perpendicular to the plane of the
page at the farthest end .Explain.
Q17. Torque and work are both defined as force times distance. Explain, how do they differ?
Q18. A particle moves in a circular path with decreasing speed. What happens to its angular
momentum?
Q19. A planet moves around the sun under the effect of gravitational force exerted by the sun.
Why is the torque on the planet due to the gravitational force zero?
Q20. A projectile acquires angular momentum about its point of projection during its flight. Is its
angular momentum constant over the entire orbit?
Q21. What do you mean by mechanical equilibrium of a rigid body? State the condition for the
rigid body to be in mechanical equilibrium.
Q22. Why does the speed of a planet vary in its orbit around the sun?
Q23. Why is a leader more apt to slip, when you are high up on it than when you just begin to
climb?
Q24. A rod PQ of mass M and length L is hinges at end P. The rod is kept horizontal by a
massless string tied to point Q. If the string is cut, find the initial angular acceleration produced in
the motion of the rod.
Q25.A thin wheel can stay upright on its rim for a considerable length of time, when rolled with a
considerable ,while it falls from its upright position at the slightest disturbance, when stationary
explain.
Q26. Derive an expression for the angular momentum of a system in Cartesian co-ordinates.
Q27. Derive an expression for rotational kinetic energy and hence define moment of inertia.
Q28. Prove that the time rate of change of the angular momentum of a particle is equal to the
torque acting on it.
Q29.Define angular momentum. What are its units? Establish the relation between angular
momentum and torque.
Q30. State and prove the principle of conservation of angular momentum.

Three Marks Questions

Q1. The moment of inertia of a solid sphere about a tangent is . Find the moment of inertia
about a diameter?
Q2. Four particles of mass 1kg, 2kg, 3kg and 4kg are placed at the four vertices A, B, C and D of
square of side 1m. Find the position of centre of mass of the particle.

Q3. A circular ring of diameter 40cm and mass 1kg is rotating about an axis normal to its plane
and passing through the centre with a frequency of 10 rotations per second. Calculate the angular
momentum about its axis of rotation?
Q4. (a) Which physical quantities are represented by the
(i) Rate of change of angular momentum
ii) Product of I and
(b) Show that angular momentum of a satellite of mass MS revolving around the earth having

mass Me in an orbit of radius r is equal to

Q5. In the HCl molecule, the separation between the nuclei of the two atoms is about 1.27A 0 .
Find the approximate location of the CM of the molecule, given that a chlorine atom is about 35.5
times as massive as a hydrogen atom and nearly all the mass of an atom is concentrated in its
nucleus.
Q6. Show that the area of the triangle contained between the vectors a and b is one half of the
magnitude of a x b.
Q7. A metre stick is balanced on a knife edge at its centre. When two coins, each of mass 5 g are
put one on top of the other at the 12.0 cm mark, the stick is found to be balanced at 45.0 cm.
What is the mass of the metre stick?
Q8. Show that a.(b c) is equal in magnitude to the volume of the parallelepiped formed on the
three vectors, a, b and c.
Q9. A hoop of radius 2 m weighs 100 kg. It rolls along a horizontal floor so that its centre of mass
has a speed of 20 cm/s. How much work has to be done to stop it?
Q10. The oxygen molecule has a mass of kg and a moment of inertia
of about an axis through its centre perpendicular to the lines joining the two
atoms. Suppose the mean speed of such a molecule in a gas is 500 m/s and that its kinetic
energy of rotation is two thirds of its kinetic energy of translation. Find the average angular velocity
of the molecule.
Q11. A man stands on a rotating platform, with his arms stretched horizontally holding a 5 kg
weight in each hand. The angular speed of the platform is 30 revolutions per minute. The man
then brings his arms close to his body with the distance of each weight from the axis changing
from 90cm to 20cm. The moment of inertia of the man together with the platform may be taken to
be constant and equal to 7.6 kg .
(a) What is his new angular speed? (Neglect friction.)
(b) Is kinetic energy conserved in the process? If not, from where does the change come about?
Q12. Read each statement below carefully, and state, with reasons, if it is true or false;
(a) During rolling, the force of friction acts in the same direction as the direction of motion of the
CM of the body.
(b) The instantaneous speed of the point of contact during rolling is zero.
(c) The instantaneous acceleration of the point of contact during rolling is zero.
(d) For perfect rolling motion, work done against friction is zero.
(e) A wheel moving down a perfectly frictionless inclined plane will undergo slipping (not rolling)
motion.
Q13. Two particles, each of mass m and speed v, travel in opposite directions along parallel lines
separated by a distance d. Show that the vector angular momentum of the two particle system is
the same whatever be the point about which the angular momentum is taken.
Q14. (a) Why is moment of inertia called rotational inertia?
(b) Calculate M.I of a uniform circular disc of mass 500gm and radius 10cm about
(i) Diameter (ii) axis tangent to the disc and parallel to diameter
(c) Axis passing trough centre and perpendicular to its plane?
Q15. (a) A cat is able to land on its feet after a fall. Why?
(b) If angular momentum moment of inertia is decreased, will its rotational be also
conserved? Explain.
Q16. Find the components along the x, y, z axes of the angular momentum l of a particle, whose
position vector is r with components x, y, z and momentum is p with components .
Show that if the particle moves only in the x-y plane the angular momentum has only a z-
component.
Q17. A non-uniform bar of weight W is suspended at rest by two strings of negligible weight as
shown in figure The angles made by the strings with the vertical are 36.9° and 53.1° respectively.
The bar is 2 m long. Calculate the distance d of the centre of gravity of the bar from its left end.

Q18. A car weighs 1800 kg. The distance between its front and back axles is 1.8 m. Its centre of
gravity is 1.05 m behind the front axle. Determine the force exerted by the level ground on each
front wheel and each back wheel.
Q19. (a) Find the moment of inertia of a sphere about a tangent to the sphere, given the moment
of inertia of the sphere about any of its diameters to be , where M is the mass of the
sphere and R is the radius of the sphere.
(b) Given the moment of inertia of a disc of mass M and radius R about any of its diameters to be
, find its moment of inertia about an axis normal to the disc and passing through a point on
its edge.
Q20. Torques of equal magnitude is applied to a hollow cylinder and a solid sphere, both having
the same mass and radius. The cylinder is free to rotate about its standard axis of symmetry, and
the sphere is free to rotate about an axis passing through its centre. Which of the two will acquire
a greater angular speed after a given time?

Five Marks Questions

Q1. (a) A child stands at the centre of a turntable with his two arms outstretched. The turntable is
set rotating with an angular speed of 40 rev/min. How much is the angular speed of the child if he
folds his hands back and thereby reduces his moment of inertia to 2/5 times the initial value?
Assume that the turntable rotates without friction.

(b) Show that the child's new kinetic energy of rotation is more than the initial kinetic energy of
rotation. How do you account for this increase in kinetic energy?

Q2. From a uniform disk of radius R, a circular hole of radius R/2 is cut out. The centre of the hole
is at R/2 from the centre of the original disc. Locate the centre of gravity of the resulting flat body.

Q3. A solid sphere rolls down two different inclined planes of the same heights but different angles
of inclination. (a) Will it reach the bottom with the same speed in each case? (b) Will it take longer
to roll down one plane than the other? (c) If so, which one and why?

Q4. A solid cylinder rolls up an inclined plane of angle of inclination 30°. At the bottom of the
inclined plane the centre of mass of the cylinder has a speed of 5 m/s.

(a) How far will the cylinder go up the plane?

(b) How long will it take to return to the bottom?

Q5. As shown in Fig.7.40, the two sides of a step ladder BA and CA

are 1.6 m long and hinged at A. A rope DE, 0.5 m is tied half way up.
A weight 40 kg is suspended from a point F, 1.2 m from B along the
ladder BA. Assuming the floor to be frictionless and neglecting the
weight of the ladder, find the tension in the rope and forces exerted by
the floor on the ladder. (Take g = 9.8 )

(Hint: Consider the equilibrium of each side of the ladder separately.)

Q6. Two discs of moments of inertia 𝐼1 and 𝐼1 about their respective axes (normal to the disc and
passing through the centre), and rotating with angular speeds 𝜔1 and 𝜔2 are brought into contact
face to face with their axes of rotation coincident. (a) What is the angular speed of the two-disc
system? (b) Show that the kinetic energy of the combined system is less than the sum of the initial
kinetic energies of the two discs. How do you account for this loss in energy?

Q7. (a) Prove the theorem of perpendicular axes.

(Hint: Square of the distance of a point (x, y) in the x–y plane from an axis through the origin
perpendicular to the plane is ).
(b) Prove the theorem of parallel axes.
(Hint: If the centre of mass is chosen to be the origin ).
Q8. Prove the result that the velocity v of translation of a rolling body (like a ring, disc, cylinder or
sphere) at the bottom of an inclined plane of a height h is given by .

Using dynamical consideration (i.e. by consideration of forces and torques). Note k is the radius of
gyration of the body about its symmetry axis, and R is the radius of the body. The body starts from
rest at the top of the plane.

Q9. A disc rotating about its axis with angular speed ω is placed lightly (without any translational
push) on a perfectly frictionless table. The radius of the disc is R. What are the linear velocities of
the points A, B and C on the disc shown? Will the disc roll in the direction indicated?

Q10. A solid disc and a ring, both of radius 10 cm are placed on a horizontal table simultaneously,
with initial angular speed equal to 10 π rad . Which of the two will start to roll earlier? The co-
efficient of kinetic friction is = 0.2.
 Answer Key:

Multiple Choice Questions (One-mark questions)

Q1 (d) Centre of mass definition is - the point in a body or system of bodies at which the whole
mass may be considered as concentrated
Q2 (a)
Q3 (d)
𝑚1.x1+m2.x2 12×0+16×.12
Q4 (c) = =.07nm
𝑚1+𝑚2 12+16
Q5 (b)
Q6 (d)
Q7 (c)
⃗ = AB Cos𝜃
Q8 (d)𝐴 . 𝐵
𝐴×𝐵⃗ = AB sin𝜃 , according to question Sin 𝜃 = Cos 𝜃
𝜋
𝜃=
4
Q9 (b)

Q10 (d) Torque is constant let it be τ

Torque = I𝛼
τ
τ = I𝛼 , I for a body is constant so 𝛼 = is also constant, So constant torque implies constant
𝐼
angular acceleration. Hence the body rotates at a constant speed.
Q11 (a)
Q12 (d)
Q13 (d)
Q14 (c) In SI unit for angular momentum is Kilogram m2/sec
Q15 (c)
Q16 (b)
Q17 (c)
𝐼1 𝜔1 3
Q18 (a) Given angular momentum is constant L1 = L2 , I1𝜔1 = I2𝜔2 , = =1
𝐼2 𝜔2
Q19 (a) The formula for moment of inertia is the “sum of the product of mass” of each particle with
the “square of its distance from the axis of the rotation”. The formula of moment of inertia is
expressed as I = Σ miri2.
Q20 (d)
Q21 (a)
Q22 (d)
Q23 (a)
Q24 c)
Q25 (b) Radius of gyration = K
1
I = 12 mL2

1 𝐿 𝐿
Because mK2 = I ∴ mK2 = 12 mL2, K = =
√12 2 √3
Q26 (b)
Q27 (b)
Q28 (c)
Q29 (d)
Q30 (a)
Q31 (c)
Q32 (d)
Q33 (b)
Q34 (b)
Q35 (b)
Q36 (a)
Q37 (a)
Q38 (c)
Q39 (a)
Q40 (b)
Q41 (b)
Q42 (d)
Q43 (c)
Q44 (a)
Q45 (d)
Q46 (b)
Q47 (d)
1
Q48 (a) As the radius of the earth becomes half ,the moment of inertia will become the initial
4
value .As the angular velocity is increased 4 times and the angle to be rotated is still 2𝜋 . So the
duration of a day will be decreased by 4 times and will become 6 hours.
2 1 2 1 1
L1 = L2 , MR2𝜔= × MR2𝜔’ , 𝜔’ = 4𝜔 , T’ = T = × 24 = 6h.
5 4 5 4 4
Q49 (d)
Q50 (c)
Answer Key- Two Marks Questions
⃗ , then 𝐴 × 𝐵
Ans1.Mathematically,If 𝜃 is the angle between the vectors 𝐴 and 𝐵 ⃗ = AB Sin 𝜃𝑛̂ ,
⃗ and points in the direction in which a right
where 𝑛 is the unit vector perpendicular to both 𝐴 and 𝐵
handed screw rule will advance.
Ans2.𝐴 × 𝐴 = (A) (A) sin 00 =0 because Sin 00=0
Ans3.Two vectors are parallel to each other, if their cross product is zero.
⃗ are parallel vectors.
Ans4.The vectors 𝐴 and 𝐵
⃗
𝐴.𝐵 𝐴𝐵 𝑐𝑜𝑠 𝜃 1
Ans5. Now, = = cot 𝜃 = cot 600 =
𝐴×𝐵⃗ 𝐴𝐵𝑠𝑖𝑛𝜃 √3
Ans6. No.
Torques acting on the system due to internal forces cancel out.
Ans7. A body, whose constituent particles remain at their respective positions, when a body is in
translational or rotational motion is called arigid body.
Ans8. The turning effect of a force about the axis of rotation is called torque of the force ad it is
measured as the product of the magnitude of the force and the perpendicular distance of the line
of action of the force from the axis of rotation.
Ans9. Its unit is newton meter (Nm) in SI.
Ans10. It is denoted by L. angular momentum = linear momentum × perpendicular distance from
the axis of rotation. In SI its unit is Kgm2s-1.
⃗ ≠𝐵
Ans11. Mathematically, (1) 𝐴 × 𝐵 ⃗ × 𝐴 (2), 𝐴 × 𝐴 =0 (3), 𝐴 × 𝐵
⃗ = -𝐵
⃗ × 𝐴 , the cross product
⃗ + 𝐶) = 𝐴 × 𝐵
obey’s distributive law 𝐴 ×(𝐵 ⃗ + × 𝐶 , (4)The cross product of two vectors represents
the area of the parallelogram formed by them.
Ans12. When two vectors are parallel to each other their cross product will be equal to zero. If
they are perpendicular to each other their dot product must be equal to zero.
⃗ = ( ̂-5𝑗̂
Ans13. 𝐴 × 𝐵 𝑖 ) × (2𝑖̂-10𝑗̂) = 2𝑖̂ × 𝑖̂-10𝑗̂ × 𝑖̂-10𝑖̂ × 𝑗̂+50𝑗̂ × 𝑗̂
= 2(0)-10(-𝑘̂)-10𝑘̂+50(0)=0
⃗ =𝐶×𝐵
Ans14. 𝐴 × 𝐵 ⃗
⃗ -⃗⃗⃗𝐶 × 𝐵
.𝐴 × 𝐵 ⃗ = 0 or (.𝐴– 𝐶 ) × 𝐵 = 0 now following these possibilities:

(i) (.𝐴– 𝐶 ) = 0 i.e. .𝐴 = ⃗⃗⃗𝐶

(ii) ⃗ = 0 (null vector)
Or 𝐵
⃗ may be parallel. It implies that (𝐴 – 𝐶 ) = k𝐵
Or (𝐴 – 𝐶 ) and 𝐵 ⃗ where k is non zero real number. i.e.
⃗.
𝐴 = 𝐶 + k𝐵

Ans15.To open a door, torque has to be applied.

Since torque = force × moment arm, then the torque is lesser, when force is applies on the door
near the hinges. As a result ,it proves difficult to open the door.
Ans16. Same as answer Ans15.
Ans17 (i) whereas work is a scalar quantity, torque is a vector quantity.
(ii) Work done is measured as the product of the applied force and the distance which the body
covers along the direction of the force. On the other hand, torque is measured as the product of
the force and its perpendicular distance from the axis of rotation.
⃗ = 𝑟 ×m𝑣 if the speed of the particle decreases
Ans18. We know that angular momentum is 𝐿
along the circular path, the magnitude of angular momentum will decrease without any change in
the direction of angular momentum vector.
Ans19. Torque of the planet due to the sun 𝜏 = 𝑟 × 𝐹 since the gravitational force on the planet
acts along the line joining the planet to the sun, the vectors 𝑟 and 𝐹 are always anti parallel and
hence 𝜏 = 0.
Ans20. An object will not acquire angular momentum, it no external torque acts on it. During its
flight, a torque acts on the projectile due to gravity and hence it acquires angular momentum.

Ans21. A rigid body is said to be in mechanical equilibrium if both its linear momentum and
angular momentum do not change with time.

Ans22. because torque on the planet due to the sun is zero , so angular momentum is constant
therefore mvr = constant. The distance of the planet from the sun continuously varies along its
elliptical path .therefore speed of the planet also varies accordingly.

Ans23.When a person is high up on a ladder ,then torque produced due to his weight about the
point of the contact between the ladder and the floor becomes quite large. On the other hand
when he starts climbing up,the torque is small. Therefore the ladder is more apt to slip, when one
is high up.

Ans24. When the string is cut, the rod will turn about the hinged end P .The weight Mg of the rod
acting at its C.G.( centre of gravity) i.e. at a distance 𝐿⁄2 from the end will provide the turning
𝐿
torque 𝜏 = Mg × ….(1) ,
2

Let I be the moment of inertia of the rod about the axis through the end P. If 𝛼 is the angular
acceleration produced, then

1
𝜏 = I 𝛼 = ML2× 𝛼…..(2)
3

𝑓𝑟𝑜𝑚 (1)𝑎𝑛𝑑 (2)

1 2 𝐿 3𝑔
ML × 𝛼 = Mg × 2 therefore 𝛼 =
3 2𝐿

Ans25.When a thin wheel is stationary, it falls from its upright position on even being disturbed
slightly .It is because, the wheel is in unstable equilibrium.

On the other hand, when the wheel is rotating with a considerable velocity , it can stay upright for
a long time as such, the wheel possesses a large angular momentum. When the torque is applied
to disturb the fast rotating wheel, the restoring torque offsets the effect of the applied torque. Due
to this a fast rotating wheel can stay upright for a considerable length of time.

Ans30. Consider a system of n-particles. Suppose that the particles of the system are under the
action of torques due to external forces acting on them .The internal forces between particles do
⃗
𝑑𝐿
not contribute to the total torque on the system. If is the rate of change of the system, then the
𝑑𝑡
external torque acting on the system is given by

⃗
𝑑𝐿 ⃗
𝑑𝐿
𝜏 (ext.) = in case external torque on the system is zero, then =0
𝑑𝑡 𝑑𝑡

⃗ = a constant vector. If 𝐿
Or 𝐿 ⃗ 1 ,𝐿
⃗2,𝐿
⃗ 3,………..𝐿
⃗ n= a constant vector.

It is the mathematical form of the Law of conservation of angular momentum.

Answer key to THREE marks questions

1) Ans: A tangent KCL is drawn at pt. C of a solid sphere of mass M and radius R. Draw a
diameter AOB || to KCL

Then according to Theorem of parallel axis, I, = I + M (OC)2

I1(M.I about the tangent) =

2) Ans: Hence

Thus centre of mass (0.5m, 0.7m)

3) Ans:

4) Ans:(a)
(1) Torque i.e.
(2) Angular momentum i.e. L = Iw

(b) Mass of satellite = Ms

Mass of earth = Me
Radius of satellite = r

Required centripetal force

Where is the orbital velocity with which the satellite revolves round the earth.

Gravitational force between the satellite and the earth

Equating (1) and (2)

Now angular momentum of the satellite

Hence Proved

5) Ans.The given situation can be shown as:

Distance between H and Cl atoms = 1.27

Mass of H atom = m
Mass of Cl atom = 35.5m
Let the centre of mass of the system lie at a distance x from the Cl atom.
Distance of the centre of mass from the H atom = (1.27 – x)
Let us assume that the centre of mass of the given molecule lies at the origin. Therefore, we can
have:
Here, the negative sign indicates that the centre of mass lies at the left of the molecule.

Hence, the centre of mass of the HCl molecule lies 0.037 from the Cl atom.

6) Ans.Consider two vectors and , inclined at an angle θ, as shown in the

following figure.

In ΔOMN, we can write the relation:

= 2 × Area of ΔOMK

∴Area of ΔOMK

7) Ans. Let W and be the respective weights of the metre stick and the coin.

The mass of the metre stick is concentrated at its mid-point, i.e., at the 50 cm mark.
Mass of the meter stick =
Mass of each coin, m= 5 g
When the coins are placed 12 cm away from the end P, the centre of mass gets shifted by 5 cm
from point R toward the end P. The centre of mass is located at a distance of 45 cm from point P.
The net torque will be conserved for rotational equilibrium about point R.

Hence, the mass of the metre stick is 66 g.

8) Ans. A parallelepiped with origin O and sides a, b, and c is shown in the following figure.
Volume of the given parallelepiped = abc

Let be a unit vector perpendicular to both band c. Hence, and a have the same direction.

= abc cosθ

= abc cos 0°

= abc

= Volume of the parallelepiped.

9) Ans. Radius of the hoop, r= 2 m

Mass of the hoop, m= 100 kg

Velocity of the hoop, v= 20 cm/s = 0.2 m/s

Total energy of the hoop = Translational KE + Rotational KE

Moment of inertia of the hoop about its centre, I =

But we have the relation,

The work required to be done for stopping the hoop is equal to the total energy of the hoop.

∴Required work to be done,

10) Ans. Mass of an oxygen molecule, m= kg

Moment of inertia, I=

Velocity of the oxygen molecule, v= 500 m/s

The separation between the two atoms of the oxygen molecule = 2r

Mass of each oxygen atom = m/2

Hence, moment of inertia I, is calculated as:

It is given that:

=
11) Ans. (a) 58.88 rev/min (b) No

(a)Moment of inertia of the man-platform system = 7.6 kg

Moment of inertia when the man stretches his hands to a distance of 90 cm:

= 8.1 kg

Initial moment of inertia of the system,

Angular speed,

Angular momentum, …………(i)

Moment of inertia when the man folds his hands to a distance of 20 cm:

= = 0.4 kg

Final moment of inertia,

Final angular speed =

Final angular momentum, … (ii)

From the conservation of angular momentum, we have:

(b) Kinetic energy is not conserved in the given process. In fact, with the decrease in the moment
of inertia, kinetic energy increases. The additional kinetic energy comes from the work done by the
man to fold his hands toward himself.

12) Ans. (a) False

Frictional force acts opposite to the direction of motion of the centre of mass of a body. In the case
of rolling, the direction of motion of the centre of mass is backward. Hence, frictional force acts in
the forward direction.

(b) True--Rolling can be considered as the rotation of a body about an axis passing through the
point of contact of the body with the ground. Hence, its instantaneous speed is zero.
(c) False--When a body is rolling, its instantaneous acceleration is not equal to zero. It has some
value.

(d) True--When perfect rolling begins, the frictional force acting at the lowermost point becomes
zero. Hence, the work done against friction is also zero.

(e) True--The rolling of a body occurs when a frictional force acts between the body and the
surface. This frictional force provides the torque necessary for rolling. In the absence of a frictional
force, the body slips from the inclined plane under the effect of its own weight.

13) Ans. Let at a certain instant two particles be at points P and Q, as shown in the following
figure.

Angular momentum of the system about point P:

……….(i)

Angular momentum of the system about point :

…………….(ii)

Consider a point R, which is at a distance y from point Q, i.e.,

QR = y

∴PR = d – y

Angular momentum of the system about point R:

………(iii)

Comparing equations (i), (ii), and (iii), we get:

……………(iv)
We infer from equation (iv) that the angular momentum of a system does not depend on the point
about which it is taken.

14) Ans: (a) Moment of inertia is called rotational inertia because it measures moment of inertia
during its rotational motion.

(b) (i)

(ii)

(iii)

15) Ans:(a) When cat lands to the ground, if stretches its tail as result M.I increases

As IW = constant

Angular speed will be small due to increase in moment of inertia and the cat is able to land on
its feet without any harm.

(b) Let moment of inertia of a system decrease from I to I’

Then angular speed increase from w to w’

K.E. of rotation of the system

 K.E of the system will increase. Hence it will not be conserved.

16) Ans.

Linear momentum of the particle,

Position vector of the particle,

Angular momentum,

Comparing the coefficients of we get:

…………..(i)

The particle moves in the x-y plane. Hence, the z-component of the position vector and linear
momentum vector becomes zero, i.e.,

z= =0

Thus, equation (i) reduces to:

Therefore, when the particle is confined to move in the x-y plane, the direction of angular
momentum is along the z-direction.

17) Ans. The free body diagram of the bar is shown in the following figure.

Length of the bar, l= 2 m

and are the tensions produced in the left and right strings respectively.

At translational equilibrium, we have:

For rotational equilibrium, on taking the torque about the centre of gravity, we have:

Hence, the C.G. (centre of gravity) of the given bar lies 0.72 m from its left end.

18) Ans. Mass of the car, m= 1800 kg

Distance between the front and back axles, d= 1.8 m

Distance between the C.G. (centre of gravity) and the back axle = 1.05 m

The various forces acting on the car are shown in the following figure.

and are the forces exerted by the level ground on the front and back wheels respectively.

At translational equilibrium:

= mg

= 1800 9.8
= 17640 N … (i)

For rotational equilibrium, on taking the torque about the C.G., we have:

…………..(ii)

Solving equations (i) and (ii), we get:

∴ = 17640 – 7350 = 10290 N

Therefore, the force exerted on each front wheel , and

The force exerted on each back wheel

19) Ans. (a)

The moment of inertia (M.I.) of a sphere about its diameter =

According to the theorem of parallel axes, 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.

The M.I. about a tangent of the sphere =

(b) The moment of inertia of a disc about its diameter =

According to the theorem of perpendicular axis, 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.

The M.I. of the disc about its centre =

The situation is shown in the given figure.

Applying the theorem of parallel axes:

The moment of inertia about an axis normal to the disc and passing through a point on its edge =

20) Ans. Let m and r be the respective masses of the hollow cylinder and the solid sphere.

The moment of inertia of the hollow cylinder about its standard axis,

The moment of inertia of the solid sphere about an axis passing through its centre,

We have the relation:

Where,

α = Angular acceleration

T = Torque

I = Moment of inertia

For the hollow cylinder,

For the solid sphere,

As an equal torque is applied to both the bodies,

……….(i)

Now, using the relation:

Where,

= Initial angular velocity

t = Time of rotation

= Final angular velocity

For equal and t, we have:

… (ii)

From equations (i) and (ii), we can write:

Hence, the angular velocity of the solid sphere will be greater than that of the hollow cylinder.

Prepared By: Usha, Lecturer Physics, GSSS Kala Sanghian Dist.

Kapurthala (Mob: 9780622670)
Under the Guidance of: PDM Principal S. Navchetan Singh GSSS (G)
Kapurthala
Supervised By: Smt. Jasvinder Kaur (Assistant Director PPPP
Science Sen. Sec. State)