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 6
ROTATIONAL MOTION
Introduction
In This chapter you will study the concept of Kinematics & Dynamics of a rigid body. Kinematics of
rigid body is described by using the concepts of angular displacement, angular velocity and angular
acceleration.
In Dynamics of a rigid body, we analyze the torque, its cause and its effect on the rotatory motion of
the body.
The impulse momentum theorem for rotational motion leads to the principle of conservation of angular
momentum when the sum of external torques is zero.

6.1 Rotational Kinematics

A rigid body will be having rotational motion about an axis of rotation when each particle of the body
moves in a circular path around their centres which lie along a straight line on the axis of rotation. The
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angular velocity, , is given by

 d
  Lim 
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t o t dt
Similarly, the angular acceleration  is given by

d  d 2
α 
dt dt 2
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The relations between linear displacement, s, velocity, v, and acceleration, a, to the quantities describing
circular motion in rotational kinematics i.e., angular displacement , angular velocity, , and angular
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acceleration, , respectively are given for distance r from axis of rotation as:
s = r
v = r
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a = r
If a body rotates with uniform angular acceleration,
t = 0 + t
1 2
 = 0 t + t
2
2 = 02 + 2
where 0 is initial angular velocity

6.2 Moment of Inertia

There are two types of systems; discrete and continuous.
Discrete System: The moment of inertia of a body is a measure of its rotational inertia. The moment
of inertia of a body about an axis is defined as the sum of the products of the masses of the particles
constituting a body and the squares of the respective distances from the axis of rotation. If a body

-6. 1 -
 Rotational Motion

consists of masses m1, m2, m3......... at perpendicular distances r1, r2, r3....... respectively from axis of
rotation, the moment of inertia, I, is given by
m1
I = m1 r12 + m2 r22 + m3 r32 + ----- m 3 r3 r1
i n
r2 m2
= m i ri
2

i 1 m5 r5 r4 m4

Continuous system: If a system is continuous, then we calculate moment of inertia with the help of
integration.
2
I=  r dm
6.3 Theorems of Moment of Inertia
(a) Theorem of Parallel Axes : It states that the moment of
inertia of a body about an axis is equal to the sum of moment
ICM
of inertia about a parallel axis through its centre of mass and C
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A
product of mass of the body and square of perpendicular distance
between two axes. If the moment of inertia of a body about its
centre of mass and through axis AB perpendicular to its plane is d
CM
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ICM, then the moment of inertia of this body through any axis CD
parallel to this axis, Iparallel, is given by
D B
Iparallel = ICM + Md2
where d is the perpendicular distance between the two axes.
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(b) Theorem of Perpendicular Axes : The sum of moments of

inertia of a body about two axes Ix and Iy at right angles to each Iz
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other in the plane of the body passing through its centre of masses
is equal to the moment of inertia of the body Iz about an axis
Ix
perpendicular to these axes but passing through their point of
interaction at the centre of mass.
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Iz = Ix + Iy Iy

Moment of Inertia of some continuous system

(i) M.I. of a Rod
Case-I: About an axis which is passing through the C.M. and r to its length:
Let us take a small element of thickness dx, whose mass is dm.
l/2
2
 Ixy = 2 ×  dmx
0
l/2
M  2
= 2   dx  x
0  l 
1/ 2
2m  x 3  2m 1 l 3 2
= l 3    = Ml
 0 l 3 8 12

-6. 2 -
Rotational Motion

Ml2
 I =
12
Case-II: About one end:
To find out M.I. about one end let us apply parallel axis theorem
2
l
Ixy = Icm + M  
2
Ml2 Ml2
= 
12 4
M l2
I
3

(ii) M.I. of a Ring

Case-I: M.I. of a ring about an axis which is passing
through its C.M. & r to its plane:
Let the mass of the ring be M and its radius be r. Let as
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take a small element dl of mass dm.

2
l
I = dmr² = r² dm   = mr²
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2

Case-II: About diameter:

Let AB be the axis of rotation, about which M.I is to be
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determined. Let us apply perpendicular axis theorem,

I z = Ix + Iy
 I z = 2Ix [ Ix= Iy]
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Iz MR 2
 Ix =  Ix =
2 2
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(iii) M.I. of a Disc

Case-I: About an axis which is passing through its C.M.
and r to its plane:
Let us take a ring of radius x and of thickness dx.

R R
M
I =  dm x 2   ( 2xdx ) x 2
0 0
R2

R R
2M 2 M  x4 
I = R2  x 3 dx =  
0
R2  4 0

2 M x 4 MR 2
=  
R2 4 2

-6. 3 -
 Rotational Motion

Case-II: About an axis which is the diameter

Iz = Ix + Iy
I z = 2Ix [ Ix= Iy]

Iz
 Ix =
2

Table 6.1 Moment of Inertia of Geometrically Symmetric Bodies

S.No. Body, Mass M Axis Figure I K
1. Ring or loop, Through its centre and MR 2 R
radius R perpendicular to plane

MR 2 R
2. Disc, radius R Perpendicular to plane
2 2
through its centre

3. Hollow cylinder, Axis of cylinder MR 2 R

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radius R

MR 2 R
4. Solid cylinder radius R Axis of cylinder
2 2
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5. Thick walled cylinder, Axis of cylinder

R1

R2

M R 12  R 22  R 12  R 22
2 2
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2 2
6. Solid sphere, radius R Diameter MR 2 R
5 5
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2 MR 2 2
7. Spherical shell Diameter R
3 3
radius, R
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ML2 L
8. Thin rod, length L Perpendicular to rod
12 2 3
at middle point

ML2 L
9. Thin rod, length L Perpendicular to rod
3 3
at one end

R MR
2
Ml
2
R2 l2
10. Solid cylinder, length l Through centre and l  
4 12 4 12
perpendicular to length
11. Rectangular sheet, Through centre and
b M (l 2  b 2 ) l 2  b2
length l and breadth b perpendicular to plane
l 12 12

-6. 4 -
Rotational Motion

Sample Problem 6.1 :

The wheel of a motor, accelerated uniformly from rest, rotates through 2.5 radian during the
first second. Find the angle rotated during the next second.
Sol.: As the angular acceleration is constant, we have
1 1
 = 0 t + t2 = t2
2 2
1
Thus, 2.5 rad = a(1s)2
2
 = 5 rad/s2
The angle rotated during the first two seconds is
1
= × (5 rad/s2 ) (2s)2 = 10 rad.
2
Thus, the angle rotated during the 2 nd second is
10 rad – 2.5 rad = 7.5 rad.
Sample Problem 6.2 :
Starting from rest a fan takes five seconds to attain the maximum speed of 400 rpm (revolution per
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minute). Assuming constant acceleration, find the time taken by the fan in attaining half the maximum
speed.
Sol.: Let the angular acceleration be a. According to the question,
400 rev/min = 0 + a5 ...(i)
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Let t be the time taken in attaining the speed of 200 rev/min which is half the maximum.
Then, 200 rev/min = 0 + at ...(ii)
Dividing (i) by (ii), we get,
2 = 5 t or t = 2.5 s.
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Sample Problem 6.3 :

Three particles, each of mass m, are situated at the vertices of an equilateral triangle ABC of
side L (figure). Find the moment of inertia of the system about (i) the line AX perpendicular to
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AB in the plane of ABC. (ii) One of the sides of the triangle ABC (iii) About an axis passing
through the centroid and perpendicular to plane of the triangle ABC.
Sol.: (i) Perpendicular distance of A from AX = 0
Perpendicular distance of B from AX = L
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Perpendicular distance of C from AX = L/2

Thus, the moment of inertia of the particle at A = 0, of the particle at
B - mL 2 , and of the particle at C = m(L/2)2 . The moment of inertia of
the three-particle system about AX is
5mL2
0 + mL 2 + m(L/2)2 =
4
Note that the particles on the axis do not contribute to the moment of inertia.
(ii) Moment of inertia about the side AC = mass of particle B × square of perpendicular distance
2
 3  3mL2
of B from side AC, I AC  m  L  
 2  4
L
(iii) Distance of centroid from all the particle is , so moment of inertia about an axis and
3
2
 L  2
passing through the centroid perpendicular to plane of triangle ABC = IC = 3m    mL
 3

-6. 5 -
 Rotational Motion

Sample Problem 6.4 :

Calculate the moment of inertia of a uniform rod of mass M and length l about an axis 1,2,3 and
4.
1 2

com
3
d
4


2
M  2 M 2
Sol.: (I1 ) =  (dm) r =    dx  x =
0  3

 /2
2
 M  2 M 2
(I2 ) =  (dm) r =    dx  x =
  /2   12
(I3 ) = 0 (axis 3 passing through the axis of rod)

2 2
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(I4 ) = d  ( dm )  Md
Sample Problem 6.5 :
Find out the moment of inertia of a semi circular disc about an axis passing through its centre of
mass and perpendicular to the plane?
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Sol.: Moment of inertia of a semi circular disc about an axis passing through centre and perpendicular

MR 2
to plane of disc, I =
an

2
Using parallel axis theorem I = ICM + Md2 , d is the perpendicular distance between two parallel
axis passing through centre C and COM.
2
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MR 2 4R MR 2  4R 
I ,d    I CM  M  
2 3 2  3 

 MR 2 2
 4R  
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I CM   M   
 2  3  

OBJECTIVE : 6 – I

1. A wheel rotates with a constant acceleration of 2.0 rad/s2. If the wheel starts from rest, the number of
revolutions it makes in the first ten seconds will be approximately
(a) 8 (b) 16 (c) 24 (d) 32
Sol. [b]
1 2
 = w0 t  t = 100 rad
2

no of rev. = = 16
2

-6. 6 -
Rotational Motion

2. Two discs have the same mass and thickness. Their materials are of densities d1 and d2. The ratio of
their moments of inertia about an axis passing through the centre and perpendicular to the plane is
(a) d1 : d2 (b) d2 : d1 (c) 1 : d1d2 (d) d1d2 : 1
Sol. [b]
m m
d=  r2 =
r 2t dt
I1 r12 d2
I2 = 2 =
d1
r2
3. Three thin uniform rods each of mass M and length L are placed along the three axis of a cartesian
coordinate system with one end of each rod at the origin. The M.I. of the system about z-axis is :
(a) ML 2/3 (b) (2/3)ML2 (c) ML2/6 (d) ML2
Sol. [b]
1 2 1 2
Iz = ML  ML  0
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3 3
4. What must be the relation between length l and radius R of a cylinder, if the moment of inertia of the
cylinder about its own axis is to be the same as its moment of inertia about the equatorial axis passing
through its centre and perpendicular to its length ?
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1 3
(a) 3 (b) (c) 1 (d)
3 2
Sol. [a]
1 1 2 mR 2
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mR 2 = ml 
2 12 4
l
= 3
R
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5. Three rings each of mass m and radius r are so placed that they touch each other. The radius of
gyration of the system about the axis as shown in the figure is
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6 5 6 7
(a) r (b) r (c) r (d) r
5 6 7 6
Sol. [d]
1 2 3
I= mr  2  mr 2
2 2
7 2
3mk2 = mr
2
7
k= r
6

-6. 7 -
 Rotational Motion

6. A hollow cylinder has mass M, outside radius R2 and inside radius R1. Its moment of inertia about an
axis parallel to its symmetry axis and tangential to the outer surface is equal to :
M 2 M 2 M M
(a) ( R2  R12 ) (b) ( R2  R12 ) (c) ( R2  R1 ) 2 (d) (3R22  R12 )
2 2 4 2
Sol. [d]
mass of entire cylinder
MR22
(M2) =
R22 – R12

MR12
Mass of cavity (M1) = 2
R2 – R12

3 1 
I= M 2 R22 –  M 1R12  M1 R22 
2 2 
M
I=  3R22  R12 
2
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7. A square plate of edge a/2 is cut out from a uniform square plate of edge 'a' as shown in figure.
The mass of the remaining portion is M. The moment of inertia of the shaded portion about an
axis passing through 'O' (centre of the square of side a) and perpendicular to plane of the plate is:
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9 3 5 Ma 2
Ma 2 Ma 2 Ma 2
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(a) (b) (c) (d)

64 16 12 6
Sol. [b]
Mass of complete plate (M1) = 4M/3
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Mass of cut portion (M2) = M/3

1 1 a2 a2 
I= M 1a 2 –  M 2  M 2 
6 6 4 16 
3
I= Ma 2
16
8. Moment of inertia of a uniform quarter disc of radius R and mass M about an axis through its
centre of mass and perpendicular to its plane is
2 2
M R2  4R  M R2  4R 
(a) – M   (b) -M  2 
2  3  2  3  

2 2
M R2  4R  M R2  4R 
(c) + M   (d) + M  2 
2  3  2  3  

-6. 8 -
Rotational Motion

Sol. [b]

4 2R C
rcm =
3
I0 = I C  Mrcm2
2
 
IC = 1 MR 2 – M  4 2 R  O
2  3 
9. A block hangs from a string wrapped on a disc of radius 20 cm free to rotate about its axis which
is fixed in a horizontal position. If the angular speed of the disc is 10 rad/s at some instant, with
what speed is the block going down at that instant ?
(a) 4 m/s (b) 3 m/s (c) 2 m/s (d) 5 m/s
Sol. [c]
v = r = 10 × 0.2
v = 2 m/s
10. A sphere is rotating about a diameter.
(a) The particle on the surface of the sphere do not have any linear acceleration
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(b) The particles on the diameter mentioned above do not have any linear acceleration
(c) Different particles on the surface have different angular speeds.
(d) All the particles on the surface have same linear speed
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Sol. [b]
Conceptual

6.4 Torque
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Torque represents the capability of a force to produce change in the rotational motion of the
body.
Z
Torque about a point

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Torque of force F about a point F


   r
  rF  P
 O Y
where, F = force applied
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d
P = point of application of force
O = Point about which we want to calculate the
torque. X

r = position vector of the point of application of
force w.r.t. the point about which we want to determine the torque.

|  | rF sin   r , F  rF
where  = angle between the direction of force and the position vector of P wrt. Q.
r^ = r sin  = perpendicular distance of line of action of force from point Q, it is also called force
arm.

F^ = F sin  = component of F perpendicular to r
SI unit of torque is Nm
Note: Torque is a vector quantity and its direction is determined using right hand thumb rule
and is always perpendicular to the plane of rotation of the body.

-6. 9 -
 Rotational Motion

Torque about an axis


The torque of a force F about an axis AB is defined as the component

of torque of F about any point O on the axis AB, along the axis AB.
   
In the given figure torque of F about O is 0  r  F
 
The torque of F about AB, AB is component of 0 along line AB.
There are four cases of torque of a force about an axis.:
 
Case I: Force is parallel to the axis of rotation, F || AB
AB is the axis of rotation about which torque is required
      
r  F is perpendicular to F , but F || AB , hence r  F is perpendicular to AB .
  
The component of r  F along AB is, therefore, zero.

Case II : The line of force intersects the axis of rotation ( F intersect AB)
    
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along r then F and r are along the same line. The torque about O is r  F = 0.
ES
an

Hence component this torque along line AB is also zero.

  
Case III : F perpendicular to AB but F and AB do not intersect.
ka
lp

In the three dimensions, two lines may be perpendicular without intersecting each
other.
Two nonparallel and nonintersecting lines are called skew lines.
Figure shows the plane through the point of application of force P that is perpendicular
to the axis of rotation AB. Suppose the plane intersects the axis at the point O. The
force F is in this plane (since F is perpendicular to AB). Taking the origin at O,
   
Torque = r  F = OP × F .
Thus, torque = rFsin  = F(OS)

-6. 1 0 -
Rotational Motion


where OS is the perpendicular from O to the line of action of the force F . The line
OS is also perpendicular to the axis of rotation. It is thus the length of the common
perpendicular to the force and the axis of rotation.
     
The direction of  = OP × F is along the axis AB because AB  OP and AB 
 
F . The torque about AB is, therefore, equal to the magnitude of  that is F.(OS).
Note: Thus, the torque of F about AB = magnitude of the force F × length of the
common perpendicular to the force and the axis. The common perpendicular OS is
called the lever arm or moment arm of this torque.
 
Case IV: F and AB are skew but not perpendicular..

Here we resolve F into two components, one is parallel to axis and other is
perpendicular to axis. Torque of the perallel part is zero and that of the perpendicular
part may be found, by using the result of case (III).

Force Couple
A pair of forces each of same magnitude and acting in opposite direction is called a force
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couple.
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Torque due to couple = Magnitude of one force × distance between their lines of action.
Magnitude of torque = t = F (2d)
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 A couple does not exert a net force on an object even though it exerts a torque.
 Net torque due to a force couple is same about any point.
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Torque about A = x1 F + x2 F = F(x1 + x2 ) = Fd

Torque about B = y1 F – y2 F = F(y1 – y2 ) = Fd
 If net force acting on a system is zero, torque is same about any point.
 Therefore, if Fnet = 0 and net = 0 about one point, then net = 0 about any point.

The Torque Equation

If the net torque acting on a body about any inertial axis is  and the moment of inertia about that
axis is I, then the angular acceleration  of the body is given by the relation:   I  .
If the axis is non-inertial, the equation   I  is applicable but net torque  also includes the torque
of pseudo force about the non-inertial axis.

-6. 1 1 -
 Rotational Motion

When the axis is passing through C.M. of rigid body, then we can use the torque equation: cm  I cm 
where cm is the net torque of real forces acting on the body about C.M. axis whether it is accelerating
or non-accelerating. Because when it is accelerating the torque of pseudo force acting on C.M. will
be zero.

Equilibrium
Y
F1

F2
F5
X

F4 F3
A system is in mechanical equilibrium if it is in translational as well as rotational equilibrium. For
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this :

Fnet  0

net  0 (about every point)
ES

 
From (6.3), if Fnet  0 then net is same about every point
 
Hence necessary and sufficient condition for equilibrium is Fnet  0 , net  0 about any one

point, which we can choose as per our convenience. ( net will automatically be zero about
an

every point)

6.5 Angular Momentum

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Angular momentum of a particle about a point. Z

If a particle P of mass m with radius vector r is rotating about the

z-axis with momentum p, then the angular momentum, l, of the
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o Y
rotating particle is given by : r
p
l=r×p d 
P
The magnitude of angular momentum is X

l = | l | = r p sin 
The direction of angular momentum is normal to the plane containing r and p and will be in the z plane
as r and p are in x–y plane. If l1, l2, l3, ------ ln are the angular momenta of n particles comprising a
rigid body, the total angular momentum L of the body is given by:
L = l1 + l2 + l3 + ----- + ln
If  is the net torque of a body, and L is its angular momentum, then
dL d
τ  (I)
dt dt
The above mentioned relation is a rotational analogue of Newton’s second Law of motion.

-6. 1 2 -
Rotational Motion

Angular momentum of a rigid body rotating about fixed axis :

A

r1

r2

rn

Angular momentum of a rigid body about the fixed axis AB is L AB = L 1 + L 2 + L 3 +....... +L n

L 1 = m1 r1 r1 , L 2 = m2 r2 r2 , L 3 = m3 r3 r3 , L n = mn rn rn
L AB = m1 r 1 r 1 + m2 r2 r2 + m3 r3 r3 ........ + mn rn rn
nn n  n 2

L AB =  mn (rn )2 × ,   mn (rn )   H 
n1  n1 
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L AB = H , L H = IH 
L H = Angular momentum of object about axis of rotation.
IH = Moment of Inertia of rigid , body about axis of rotation.
 = angular velocity of the object.
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Law of Conservation of Angular Momentum

It states that if the external torque on a body or system is zero about a point, its total angular
momentum remains constant about that point.
an

dL
 If τ  0 ,  0 or L is a constant.
dt
It is a rotational analogue of conservation of linear momentum and follows Newton’s third law of
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motion.

6.6 Energy, Work and Angular Impulse

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Rotational Kinetic Energy

Consider a rigid body made up of a large number of particles of masses m1, m2, m3---, mn at distances
r1, r2, r3, ----- rn respectively from the axis of rotation about which it is rotating with an angular
velocity . If v1, v2, v3, -----vn are the linear velocities of the particles respectively, then the kinetic
energy of the body, Ek, will be equal to the sum of the kinetic energy of all the particles.
i n in
1 2 1 r1
Ek =  2 mi vi = 2  mi ri2 2 [ v = r] m2 r2 m1
i 1 i 1

r3 m3
1  
i n
mi ri2  2 m4 r4
= 2  
 i 1  

1 2
 Ek = I
2
where I is the moment of inertia of the body and it is an analogue of mass in linear motion.

-6. 1 3 -
 Rotational Motion

Work done by Torque

If a torque  rotates a body through an angle d, the work, dW, done by it is given by

d =  · d

The total work done, W, in rotating a body from the initial angle 1 to the final angle 2, is
θ2 ω
W   ·d = d 1 2
θ1
 dt
( I) dt =  I  d
0
=
2
I

If the work W is done in time t, the rate of doing work or power, P, is given by
dW d
P=   
dt dt
Also, the rate at which work is done on the rigid body is equal to the rate at which the kinetic energy
is changing with time.
1 2
Ek = I
JE

2
dW d  1 2 
 dt  dt  2 I 
 
1 d
ES

 =  I  2
2 dt
d
= I
dt

an

It is rotational analogue of Newton’s second law of motion as F = ma

d d
As  = I = I  ( I )
dt dt
ka

dL
Also  [Iω  L]
dt
 L = I
lp

It is rotational analogue of p = mv

Angular Impulse (Moment of Impulse)

Angular impulse of a torque in a given time is equal to the change in angular momentum during
that time. If angular momentum of a body is changed by a torque  , then
 t2 
J    dt 
(where J = angular impulse)
t1


 t2 dL L2
    
 J   dt   dL  J  L2  L1  L
t
dt L
1 1
Angular impulse = moment of linear impulse
   
J  r  I where I = linear impulse

-6. 1 4 -
Rotational Motion
.
Work - Energy Principle
1
The work done, W, by the torque is equal to the change in rotational kinetic energy. If I 20 is initial
2
1
kinetic energy and I 2 is final kinetic energy of rotation of a body of moment of inertia I such that
2
its angular velocity changes from 0 to , Then
1 2
W = Krot =   I  
2 
1 1 1
 W= I 2  I 02  I (2 – 02 )
2 2 2
Analogy between Linear and Rotational Motion
S.No. Quantity / Equations Linear Motion Rotational Motion & Relation

1. Displacement s  (s = r)

ds d
2. Velocity v    (v  r)
JE

dt dt

dv d
3. Acceleration a    ( a  r )
dt dt
ES

4. Mass m 
I I  mr 2 
5. Linear momentum p = mv l = I (l  r  p)

6. Force F  (τ  r  F )
an

7. Equations of motion v = u + at  = 0 + t

1 2 1
ka

s = ut + at  = 0t + t2
2 2

v2 = u2 + 2 as  = 02 + 2
lp

dp dl
8. Newton’s Second Law F = ma = τ  Iα 
dt dt

of Motion

9. Work W   F ds W   d

1 1
10. Kinetic Energy Ek = mv2 Erot = I2\
2 2

1 2 1 2 1 2 1 2
11. Work - Energy Principle W mv  mu W I  I 0
2 2 2 2

12. Impulse  F dt   . dt
 
13. Power P = F. v P = 

-6. 1 5 -
 Rotational Motion

Sample Problem 6.6 :

Find the torque about point O and A.

F  5 3 î  5 ĵ
y

(1,1) 30°
60°

x
O A B

    
Sol.: Torque about point O,   r0  F , r0  iˆ  ˆj , F  5 3 iˆ  5 ˆj
 ˆ ˆ
  (i  j ) × ( 5 3 iˆ  5 ˆj ) = 5(1  3) kˆ
    
Torque about point A ,   ra  F , ra  ˆj , F  5 3 iˆ  5 ˆj
JE


  ĵ × ( 5 3 iˆ  5 ˆj ) = 5(  3) kˆ
Sample Problem 6.7 :
ES

A bob of mass m is suspendend at point O by string of length l.

Bob is moving in a horizontal circle. Find out (i) torque of gravity
and tension about point O and O. (ii) Net torque about axis OO.
an
Sol.: (i) Torque about point O
Torque of tension (T), tten = 0 (tension is passing through point O)
Torque of gravity tmg = l mgsin
ka

Torque about point O

Torque of gravity tmg = mgr r = lsin 

Torque of tension tmg = lmgsin (along negative ĵ )

lp

Torque of tension tten = Trsin(90 + ) (Tcos  = mg)

tten = Trcos 

mg
tten = (lsin  ) cos  = mgl sin  (along positive ĵ )
cos 

(ii) Torque about axis OO

Torque of gravity about axis OO tmg = 0 (force mg parallel to axis OO)

Torque of tension about axis OO tten = 0 (force T is passing through the axis OO)

Net torque about axis OO tnet = 0

-6. 1 6 -
Rotational Motion

Sample Problem 6.8 :

A wheel of radius r and moment of inertia I about its axis is fixed at the top of an inclined plane
of inclination  as shown in figure. A string is wrapped round the wheel and its free end supports
a block of mass M which can slide on the plane. Initially, the wheel is rotating at a speed  in
a direction such that the block slides up the plane. How far will the block move before stopping?

Sol.: Suppose the deceleration of the block is a. The linear deceleration of the rim of the wheel is
also a. The angular deceleration of the wheel is  = a/r. If the tension in the string is T, the
equations of motion are as follows:
Mg sin  – T = Ma and Tr = I = Ia/r.
Eliminating T from these equations,
JE

a
Mg sin – I = Ma
r2

Mg r 2 sin 
ES

giving, a =
  Mr 2
The initial velocity of the block up the incline is v = r. Thus, the distance moved by the block
before stopping is
an

v2 2 r 2 (  Mr 2 ) (  Mr 2 )2
x= = 2 =
2a 2M r sin  2M g sin 
ka

Sample Problem 6.9 :

A particle of mass 'm' is projected on horizontal ground with an initial velocity of u making an
angle with horizontal . Find out the angular momentum of particle about the point of projection
lp

when.
(i) it just starts its motion
(ii) it is at highest point of path.
(iii) it just strikes the ground.

Sol.: (i) Angular momentum about point O is zero.

(ii) Angular momentum about point A.
  
Lr p A ucos
L = H × mu cos  H

u 2 sin 2  O R B
L = mu cos 
2g usin
(iii) Angular momentum about point B.
L = R × mu sin 

-6. 1 7 -
 Rotational Motion

Sample Problem 6.10 :

A uniform rod of mass m and length  can rotate freely on a smooth horizontal plane about a
vertical axis hinged at point H. A point mass having same mass m coming with an initial speed
u perpendicular to the rod, strikes the rod in-elastically at its free end. Find out the angular
velocity of the rod just after collision ?

Sol.: Angular momentum is conserved about H because no external force is present in horizontal
plane which is producing torque about H.
 m 2  3a
mul =   m 2  w  w=
 3  4
OBJECTIVE : 6 – II
1. A circular loop of wire of mass m and radius r is making n revolutions per second about a
JE

point on its rim. Its rotational kinetic energy is

(a) 2mr2n2 (b) 22mr2n2 (c) 42mr2n2 (d) 8p2mr2n2

Sol. [c]
ES

1
K R  (2mr 2 )(2n) 2
2

2. A playground merry-go-round is at rest, pivoted about a frictionless axis. A child of mass m runs along
an

a path tangential to the rim with speed v and jumps on to the merry-go-round. If R is the radius of the
merry-go-round and I is its moment of inertia, then the angular velocity of the merry-go-round and the
ka

child is
mvR mvR mR 2  I I
(a) 2 (b) (c) (d)
mR  I I mvR mvR
lp

Sol. [a]
Li = Lf
mvR = (I + mR2)

3. The moment of inertia of a body about an axis is 1.2 kg-m2. Initially the body is at rest. In order to
produce a rotational kinetic energy of 1500 J, an angular acceleration of 25 rad/s2 must be applied about
the axis for a duration of
(a) 2 s (b) 4 s (c) 8 s (d) 10 s
Sol. [a]
1
1500   1.2  2
2
 = 50 rad/s

 = 0 + t  t   2s
d

-6. 1 8 -
Rotational Motion

4. A uniform ladder of length 5m is placed against the wall as shown in the figure. If coefficient of
friction  is the same for both the walls, the minimum value of  for it not to slip?

(a)  = 1/2 (b)  = 1/4 (c)  = 1/3 (d)  = 1/5

Sol. [c]
N2 = N1 ...(i)
N1 + N2 = mg ...(ii)
mg
(i) and (ii)  N2 
1  2
A = 0
3 1
4N2 + 3N2 = mg   
2 3
JE

5. A uniform thin rod of mass ‘m’ and length L is held horizontally by two vertical strings attached to the
two ends. One of the string is cut. Find the angular acceleration soon after it is cut :
g g 3g 2g
(a) (b) (c) (d)
2L L 2L L
ES

Sol. [c]
 = I
L 1 2
mg  mL 
2 3
an
 = 3g/2L
6. Two uniform rods of equal length but different masses are rigidly joined to form an L-shaped
body, which is then pivoted about O as shown. If in equilibrium the body is in the shown configuration,
ratio M/m will be:
ka

m O
90° M
30°
lp

(a) 2 (b) 3 (c) 2 (d) 3

Sol. [d]
0 = 0
l l
 mg sin 60º  Mg sin 30º
2 2
M
 3
m
7. One end of a uniform rod of mass m and length l is clamped. The rod lies on a smooth horizontal
surface and rotates on it about the clamped end at a uniform angular velocity . The force exerted by
the clamp on the rod has a horizontal component
1
(a) m2l (b) zero (c) mg (d) m2l
2
Sol. [d]
1
Centripetal force = m2 l
2

-6. 1 9 -
 Rotational Motion

8. A force F = 2 iˆ  3 ˆj  kˆ acts at a point (2,  3, 1). Then magnitude of torque about point (0, 0, 2) will be
(a) 6 (b) 3 5 (c) 6 5 (d) none of these
Sol. [c]

r  (2  0)iˆ  (3  0) ˆj  (1  2)kˆ
  
  r  F  6iˆ  12 kˆ

|  | 6 5
9. A disc of mass m0 rotates freely about a fixed horizontal axis through its centre. A thin cotton pad
is fixed to its rim, which can absorb water. The mass of water dripping onto the pad is  per
second. After what time will the angular velocity of the disc get reduced to half of its initial value?
JE
2m0 3m0 m0 m0
(a) (b) (c) (d)
   2
Sol. [d]
Li = Lf
ES

1 1  m0
m0 R 2    m0 R 2  tR 2   t
2 2 2 2
10. A uniform rod AB of mass m and length l at rest on a smooth horizontal surface. An impulse P is applied
an

to the end B. The time taken by the rod to turn through a right angle is:
ka
lp

2ml ml ml 2ml

(a) (b) (c) (d)
P 3P 12 P 3P
Sol. [c]
J = L
l 1
 P  ml 2 
2 12

6P

ml

 ml
t 
 12 P

-6. 2 0 -
Rotational Motion

6.7 Combined Rotation and Translation

The Concept of Rolling and Sliding
In rotational dynamics, when an object is in pure rolling then, the linear velocity of different points are
given by
   
V  Vcm    r
Where, V  velocity of a point at a distance r from the centre of mass A
Vcm  It is the linear velocity of the centre of mass P

If we consider two points A and B then the linear velocities Vcm

O
these points can be given as

VA = Vcm + r
B surface
& V B = Vcm – r
If an object is in pure rolling on a surface, then the linear velocity of the point on the object which is in
contact with the surface, should have the same velocity of the surface i.e. no relative motion between
JE

contact surfaces..
i.e. VB = Vsurface
aB = asurface
ES

where V stands for velocity, a stands for acceleration

Now VB = Vsurface
 Vcm – r = Vsurface ...(i)
an

Equation (i) is the condition for the pure rolling motion

If surface be stationary
i.e. Vsurface = 0, then
ka

Vcm – R = 0
 Vcm = R ...(ii)
lp

Equation (ii) is the condition for pure rolling when the surface is stationary on which an object is
rolling.
Energy of a Rolling Body
If a body is rolling, it total energy, E, is equal to the sum of its translational energy of motion, ET, due to
translation of its centre of mass linearly with a velocity v and its rotational energy, ER, due to its
rotation about an axis passing through its centre of mass.
E = ET + ER
If a body of mass M and radius R is rolling such that its linear velocity is v, its angular velocity is , and
its moment of inertia about the axis through its centre of mass is I, then
1 1 1 1
E= Mv² + I² = MR²² + MK²²
2 2 2 2
MR 2
 Ix =
4

-6. 2 1 -
 Rotational Motion

Radius of Gyration: If we consider that the whole mass of the body or the centre of mass is
concentrated at a distance K from the axis of rotation, I = MK2 where M is the total mass of the body
and K is the radius of gyration. Thus radius of gyration, K, is the effective distance from the axis of
rotation to the centre of the mass of the body whose square multiplied by the total mass of the body is
equal to the moment of inertia.
1
E = M² (R² + K²) where K is radius of gyration
2

 2 
1 K
E Mv 2 1 2 
2  R 
 

1  R2 
For a ring or hollow cylinder with K = R, E = Mv 2 1  2   Mv 2
2
 R 
JE

 2 
 R 
  3Mv 2
R2 1 1 2  4
For Disc or cylinder, K2 = ,E= Mv 2  R 2
2 2  
 
 
ES

2R 2 1  2R 2  7
Mv 2 1   2
For solid sphere, K2 = ,E=  5 R 2  = 10 Mv
5 2  
an

2R 2 1  2R 2  5Mv 2
1  
For hollow sphere, K2 = , E= Mv 2  3R2   6
3 2  
ka

Conservation of energy in rotational dynamics

We can conserve energy only in a conservative field. In rotational dynamics frictional force can act or
can’t act. In pure rolling motion, the point of contact at the surface, has the same velocity of the
lp

surface, over which it is rolling. i.e. There is no relative displacement of the point of contact.

Work = force × displacement = fr × zero = 0

Hence, there is no work done due to frictional force. so, in
pure rotational dynamics, frictional force acts as a
conservative field and we can conserve energy.
i.e.,

Potential energy + kinetic energy = constant.

As shown in the figure, a disc is rolling down on an inclined plane. Then we can conserve total
mechanical energy. Applying conservation of energy at A and B, we have

1 1
mgh = I² + mVcm2.
2 2

-6. 2 2 -
Rotational Motion

Body Rolling Down an Inclined Plane

Consider a rigid body of mass M and radius R rolling down an inclined plane at angle  to the horizontal
and of height h.

Its gravitational potential energy = Mgh ...(i)

As the body rolls down the inclined plane travelling a distance s along the inclined plane, its velocity, v,
at the foot of the plane is given by

v  2gh
JE

1 1
Its total kinetic energy = Mv 2  Iω 2
2 2

2
2 
1 1 K 
ES

= 2 M v ...(ii)
 R2 
 

As the gravitational potential energy is converted into kinetic energy and the total energy is conserved,
equating equation (i) and (ii)
an

2 
2
1 K
Mv 1 2   Mgh
2  R 
 
ka

2 gh
v2 =
 K2 
lp

1  
 R2 
 

The velocity v of a body rolling down an inclined plane is given by,

2 gh
v =  K2 
1  
 R2 
 

If ‘a’ is linear acceleration down this plane of length s, the body starts from rest such that v2 = 2as

v2 2 gh g sin 
a= = or a =
2s  K 2
h K2
1   1
 R 2   2  sin  R2
 

-6. 2 3 -
 Rotational Motion

6.8 Equilibrium of Rigid Bodies

A rigid body can be in linear equilibrium or rotational equilibrium. If an object is in linear equilibrium,
then the vector sum of all the forces should be zero.

i.e.  Fext = 0  Fx = 0, Fy = 0, Fz = 0
If an object is in rotational equilibrium then the vector sum of all the external torques acting must be
zero
ext = 0  x = 0, y = 0, z = 0

Stable, unstable and neutral equilibrium of rigid bodies in a gravitational field: If a force is
conservative, then force can be obtained with the help of potential energy.

dU
i.e. FX = 
dx
dU
FY =  dy
JE

dU
FZ = 
dz
If an object be in equilibrium then potential energy U should be either maximum, minimum or constant.
ES

B
Potential Energy

an
ka
A C

X
lp

As shown in the figure, a particle is in equilibrium at A, B and C

When U is a minimum (point A) the particle is in stable equilibrium. Any displacement from this
position will result in a restoring force tending to return the particle to the equilibrium position. Equivalently,
we can say that if a body is in stable equilibrium, work must be done on it by an external agent to
change its position. This results in an increase in its potential energy.

When U is a maximum (point B of figure) the particle is in unstable equilibrium, any displacement
from this position will result in a force tending to push the particle farther from the equilibrium position,
in this case no work is done on the particle by an external agent to change its position, the work done
in displacing the body is supplied by the conservative force, resulting in a decrease in potential energy.

When U is constant, the particle is in neutral equilibrium in this case a particle can be displaced slightly
without experiencing either a repelling or restoring force.

-6. 2 4 -
Rotational Motion

Sample Problem 6.11 :

A small sphere rolls down without slipping from the top of a track in a vertical plane. The track has
an elevated section and a horizontal part. The horizontal part is 1.0 metre above the ground level and
the top of the track is 2.4 m above the ground. Find the distance on the ground with respect to point
B which is vertically below the end of the track below A where sphere lands. During its flight as a
projectile, does the sphere continue to rotate about its centre of mass ?
Sol.: Loss of Potential Energy from C to A is given by
P.E. = mg (H – h) = mg (2.4 – 1.0) = 1.4 mg

1 1 2 1 1  2 2  v2 7
Gain in K.E. = mv + I = mv +  mr  2 =
2 2
mv2
2 2 2 2 5  m 10
2 2 v
[For sphere, I = mr ,  = ]
C 5 r
7
 1.4 mg = mv2
JE

10
 horizontal velocity = v H = 2.4 m
A
10  1.4  9.8 h = 1.0 m
= = 19.6 ms 1
ES

7 B
d
Vertical velocity = 0
2  1.0
t = time taken to fall through 1.0 m =
9.8
an

2  1.0
d = Distance of position of landing of the ball from B = v  t =  19.6 = 2.0 m
9.8
The sphere rotates about its centre of mass and the law of conservation of angular momentum
ka

holds good during flight.

Sample Problem 6.12 :

A uniform ball of radius r rolls, without slipping, down from the top of a sphere of radius R. Find the
lp

angular velocity of the ball at the moment it breaks off the sphere. The initial velocity of the ball is
negligible. Assume that the sphare is fixed.

Sol.: Let the ball of mass m break off the sphere when the radius vector R makes an angle  with
vertical. If N is normal reaction, r N
P
mv2 Q
mg cos – N = (R  r)
 
when the ball breaks off, N = 0, v = r R
O mg
mv2
mg cos =
Rr R

v2  2r 2
or g cos  = (R  r) = ( R  r ) ... (i) A

-6. 2 5 -
 Rotational Motion

Loss of P.E. of ball = mg (OP – OQ) = mg (R + r) – mg (R + r) cos 

= mg (R + r) [ 1 – cos )
1 1
Gain in K.E. of ball = mv2 + I2
2 2

1 1  2 2 1 7 7
= m r22 +   5 mr  2 =  mr22 = mr22
2 2   2 5 10
7
mg (R + r) (1 – cos ) = mr22
10
7 r 2 2
g(1 – cos ) = .... (ii)
10( R  r )
Equate equations (i) and (ii)
7
 g(1 – cos ) = g cos 
10

7  r 2 w2 
g – g cos  = g cos    g cos  
10  Rr 
JE

10
 cos  =
17
From equation (i)
ES

2 2
g cos  =  r
Rr

10 2 2 10 g ( R  r )
g =  r or 2 =
17 Rr 17r 2
an

10 g ( R r)
or  =
17r 2
Sample Problem 6.13 :
ka

Two uniform thin rods A and B of length 0.6 m each and masses of 0.01 kg and 0.02 kg respectively
are rigidly joined end to end. The combinations is pivoted at the lighter end P as shown in the figure,
lp

such that it can freely rotate about the point P in a vertical plane. A small object of mass 0.05 kg
moving horizontlly hits the lower end of the combination and sticks to it. What should be the velocity
of the object so that the system could just be raised to the horizontal position ?

Sol.: If the particle C strikes the lower end with velocity v so that rod rotates with angular velocity  ;
then conservation of angular momentum about the point P gives,
I = 0.05  v  2  0.6 .... (i)
P
= 0.06 v
A
Conservation of energy gives

1 2  l 3l  B
2
I =  m A  2  mb  2  mc  2l  g
  C

-6. 2 6 -
  0.6 0.6 
= 0.01 2  0.02  3  2  0.05  2  0.69.8
 
= [0.003 + 0.018 + 0.060] (9.8) = 0.7938 kg m2s–2 ....(ii)
Moment of Inertia of composite system after the object gets stuck up = I = IA + IB + IC. As rod A
rotates about an axis passing through end of this rod.
1
IA = m l2
3 A
1
=  (0.01)  (0.6)2
3
= 1.2  10–3 kg m2
Rod B rotates around an axis which is at a distance of 3l/2 from its centre of mass. Using parallel
axis theorem.
2
1  3l  28 28
IB = m l 2 + mB  2  = m l2 =  0.02  (0.6)2 = 0 0.0168 kg m2
12 B   12 B 12
I C = mC (2l)2 = 0.05  (2  0.6)2 = 0.072 kg m2
JE

 I = 0.0012 + 0.0168 + 0.072 = 0.09 kg m2

From equation (ii)
2  0.7938
ES

2 = = 17.64 s2
0.09
 = 4.2–1
Substitute in equation (i)
an

I 0.09  4.2
v = = = 6.3 ms–1
0.06 0.06
Sample Problem 6.14 :
A homogeneous rod AB of length L = 1.8 and mass M is pivoted at the centre O in such a way that
ka

it can rotate freely in the vertical plane. The rod is initially in the horizontal position. An insect s of the
same mass falls vertically with speed V at the point C, midway between the points O and B.
Immediately after falling, the insect moves towards the end B such that the rod rotates with a
constant angular velocity w.
lp

(a) Determine the angular velocity  in terms of V and L.

(b) If the insect reaches the end B when the rod has turned through an angle of 90º, determine V.

 L
Sol.: (a) Initial angular momentum of insect about an axis passing through O = MV  4  .
 

ML2 ML2 7
M.I. of rod and insect at C about an axis through O = I =   ML2
12 16 48

-6. 2 7 -
 Rotational Motion

If  is angular velocity, angular momentum of rod and insect

7
through O = ML2.
48
As angular momentum is conserved
MV L 7 12 V
= ML2 or = 7L .
4 48

(b) As insect moves towards end B, the angular momentumm of rod and insect changes with time.
If at any moment, x is the distance of insect from O, angular momentum of rod and insect from
 ML 2 
O = I =  12  Mx2 .

d dx
 Torque  = (I) =  2 Mx dt 
dt
If  is the angle through which rod is turned.
Torque due to force Mg acting downwards,  = Mgx.cos
Here x cos is  distance between point O and line of action of force Mg,  = t.
JE

dx
Equating,  = 2 Mx  = Mgx cos(t)
dt
g
 dx = cos (t) dt .....(i)
2
ES

When t = 0, x = L/4, when x = L/2,  = t = /2 or t = /2

Integrating (i),
L 
2 2
 g
 dx   2  0 cos ( t) dt
an

L
4

L L g  sin (t )  2
  2  4  =
2   0
ka

L g  1  1 g
= =
4 2    2

2g 12  V  2g
lp

= or =
L 7  L L

7  7  7
or V= (2gL)½ = ½ –1
 12  [2  10  1.8] = 12  6 = 3.5 ms .
12
Sample Problem 6.15 :
A rectangular rigid fixed block has a long horizontal edge. A solid homogeneous cylinder of radius R
is placed horizontally at rest with its length parallel to the edge such that the axis of the cylinder and
the edge of the block are in the same vertical plane as shown in the figure. There is sufficient friction
present at the edge so that a very small displacement causes the cylinder to roll off the edge without
slipping. Determine :
(a) the angle c through which the cylinder rotates before it leaves contact with the edge.
(b) the speed of the centre of the mass of the cylinder before leaving contact with the edge.
(c) the ratio of the translational to rotational kinetic energies of the cylinder when its centre of
mass is in horizontal line with the edge.

-6. 2 8 -
Rotational Motion

Sol.: (a) When the cylinder of mass m rotates without slipping around the edge of the table through
angle , N is the normal reaction. Balancing the forces along axis
mv2
mg cos  – N = .
R
where v is velocity of cylinder. For losing contact,  = c, N = 0, where c is critical angle.

m v2
 mg cosc =
JE

R
or g cosc = v2/R .....(i)
2
 v = Rg cosc
ES

Loss in potential energy should be equal to gain in kinetic energy.

Loss in potential energy = mgR – mgR cosc = mg R (1 – cosc)
Kinetic energy of rotation about the edge of the table
an

1 2 1  mR 2  mR 2  2 3 2 2
=
2
I =  2
2    = 4 mR 

3 v2
= m R 2 2 = 3 mv2
4 4
ka
R
Equating
3
mv2 = mRg(1 – cos c)
4
lp

v2 4
= g(1 – cos c) .....(ii)
R 3
From equation (i),
v2
= g cos c
R
4
 g cos c = g(1 – cos c)
3
4 4
cos c + cos c =
3 3
 7  4 4
 3  cos c = 3 or cos c = 7
Substituting in equation (i),
4 Rg
v2 = Rg cos c =
7
4Rg
or v =
7

-6. 2 9 -
 Rotational Motion

(c) For rotation beyond c,

2
1 2 1  mR2  v 1
Rotational kinetic energy = I =  2  = mv2
2 2 R2 4

1 4 1
= m  7 Rg = mgR
4 7
Translational energy = Potential energy + Kinetic energy
The centre of mass falls through a height R cos after it loses contact with the edge.
4
 loss in potential energy = mgR cos = mg R
7
1 1 4 2
Kinetic energy = mv2 = m  Rg = m Rg
2 2 7 7

4 2 6
 Total translational energy = mgR + mgR = mgR
7 7 7

6 mgR
Translational energy 7
 Rotational energy = mgR = 6.
JE

7
Sample Problem 6.16 :
A cylinder of mass m1 is pushed by applying a horizontal force F applied to a m2
ES

horizontal plank of mass m2 as shown in the figure. F

There is no slipping at the points of contact. Find :

R
(a) The acceleration of the plank and centre of mass of the cylinder. m1

(b) Magnitudes and directions of frictional forces at the point of contacts.

an

Sol.: Let a1 and a2 be accelerations of centre of mass of cylinder and plank respectively and f1 and f2 be
their respective forces of friction.
ka

 For plank, F – f2 = m2  2a1 = m2a2 ( a2 = 2a1)

f1 + f2 = m1a1 .....(i)

m1R 2  a1 
lp

If R is radius of cylinder, f2 R – f1R =  

2 R
m1a1
f2 – f1 = .....(ii)
2
Adding (i) and (ii),
a2
3m1a1
f2 =
4 F m2
f2
3m1a1
F– = m2  2a1
4
3
F = 2m2 a1 + ma
4 1 1 f2
4F 
a1 = 8m  3m m1 a1
2 1

8F f1
a2 = 2a1 = 8m  3m
2 1

-6. 3 0 -
Rotational Motion

4 Fm1
f1 + f2 = m1a1 = 8m  3m
2 1

m1a1 2 Fm1
f2 – f1 = = 8m  3m
2 2 1

3Fm1
f 2 = 8m  3m
2 1

Fm1
f 1 = 8m  3m
2 1

The direction of friction f2 for plank is towards left and for the cylinder friction f2 is towards right.
Sample Problem 6.17 :
A turn table of mass M and radius R is rotating with angular velocity 0 on frictionless bearing about
a verticle axis. A spider of mass m falls vertically onto the rim of the turn table and then walks in
slowly towards the centre of the table.
(a) What is the angular velocity of the system when spider is at a distance r from the centre.
JE

(b) Find the angular velocity of the turn table when the spider is at the rim and at the centre of the
table.
(c) Is the energy of the system in this problem conserved ?
ES

Sol.: (a) The angular momentum L0 of the turn table of moment of inertia I0 is given by
L0 = I0 0
If  be the angular velocity of the turn table when the spider is at a distance r from the rim, then
an

angular momentum of the system is given by

L = (I0 + m r2)
ka

As no external torque acts on the system, the angular momentum is conserved,

(I0 + mr2) = I0 0
1 2
lp
M R 0
I 0 0 2  1 2
 = = 1  I 0  M R 
2
(I 0  m r ) 2 2  2 
 MR mr 
 2 

0
= .....(i)
 2 
1  2 m r 
 M R 2 

(b) When spider is at the rim, r = R, hence
0 0
rim = =
  2  2m 
1  2 m R  1  
 M R 
2
 M 


0 M
= ( M  2 m) .....(ii)

-6. 3 1 -
 Rotational Motion

When spider is at the centre of the turn table, r = 0

centre = 0 .....(iii)
This shows that the angular velocity of the turn-table increases as spider moves from the rim
towards the centre of the turn table.
(c) The initial energy of the system is given by
1 1
E0 = I  2 + m r2  0 = M R2 02 .....(iv)
2 0 0 4
When the spider is at rim, the energy of the system is given by
2
1 1  M 0 
E = (I0 + m R2)rim2 = R2 (M + 2m)  M  2m 
2 4  

1  M 
= M R2 02  M  2m 
4  

E0 M  1 2 
= (M  2M )  E 0  M R   .....(v)
 4 
JE

From equations (iv) and (v), we conclude that E < E0.

The energy is, therefore, lost when the spider strikes the turn table.
Sample Problem 6.18 :
ES

A sphere of mass M and radius r slips on a rough horizontal

plane as shown in the figure. At some instant, it has translational
velocity v0 and rotational velocity about the centre equal to
an

v0/2r. Find the translational velocity after the sphere starts

pure rolling.
ka

Sol.: The velocity of the centre = v0

Angular velocity about centre = v0/2r
Here v0 > 0 r, hence the sphere slips forward. The friction between the plane and the sphere will
lp

f
be backwards. The frictional force =  M g. The deceleration of the sphere aCM =
M
f
 v(t) = v0 – t .....(i)
M
Its linear velocity will decrease with time
Torque of frictional force  = f  r (clockwise) or I = f r
Angular acceleration about centre
r 5f
=f 2 =
2M r
( 2 / 5) M r
Angular velocity at time t is given by (t) = 0 + t
5f
i.e., (t) = 0 + 2 M r t

-6. 3 2 -
Rotational Motion

 Its angular velocity (t) will increase with time.

v0 5ft
(t) = + 2M r
2r

 v(t )  v 5ft
 r  = 0 + 2M r
  2r

v0 5f t
v(t) = + 2M .....(ii)
2

5
Multiply (i) by ,
2

5 5v 5f t
v(t) = 0 – 2 M
2 2
Adding eq. (ii) to this equation, we get
5 5 v
v(t) + v(t) = v0 + 0
2 2 2
JE

6
v(t) = v
7 0
The sphere rolls with a translational velocity 6 v0 / 7 in the forward direction.
ES

Sample Problem 6.19 :

A uniform solid cylinder of mass m rests on two horizontal
planks. A thread is wound on the cylinder. The hanging end
an

of the thread is pulled vertically down with a constant force F

as shown in the figure.
ka
Find the maximum magnitude of the force F which still does not bring about any sliding of the
cylinder, if the coefficient of friction between the cylinder and the planks is equal to . What is the
acceleration amax of the axis of the cylinder rolling down the inclined plane ?
lp

Sol.: The different forces are shown in the figure. The sum of normal reactions is given by
N1 + N2 = mg + F .....(i)
1 a
F.R – (F1 + F2)R = 1 = m R2  .....(ii)
2 R
F1 + F2 = ma .....(iii)
From equation (ii),
m
F – (F1 + F2) = a
2
1
or F – (F1 + F2) = [F + F2]
2 1
2
or (F1 + F2) = F
3
F1 =  N1, F2 =  N2

-6. 3 3 -
 Rotational Motion

The condition for not sliding is

F1 + F2  ( N1 +  N2)
2 2
 F   (N1 + N2)   (mg + F) or F – F   mg
3 3

( 2 3) F 3 m g
or  mg or F  ( 2  3 )
3

3 m g
 Fmax = (23 )

F1  F2
From equation (iii), a =
m
 ( N1  N 2 ) 
a= = [mg + F ]
m m

 amax = [mg + Fmax]
m
JE

 mg  3  m g   (2  3 )  3 
=  ( 2  3  )  = g  ( 2 3 ) 
m    

 2 g 
ES
 amax =  2 3   .
 

OBJECTIVE : 6 – III

1. A solid cylinder of mass 2 kg rolls down an inclined plane from a height of 4 m. Its rotational kinetic
an

energy when it reaches the foot of the plane is (g = 10 m/s2)

(a) 20 J (b) 40 J (c) (80/3) J (d) 80 J
Sol. [c]
ka

 R2 M 
mgh = KR 1 
 I 
2 × 10 × 4 = KR(1 + 2)
lp

80
KR = J
3

2. A metre stick is held vertically with one end on the floor and is then allowed to fall. The speed of the
other end when it hits the floor assuming that the end at floor does not slip, is - (g = 9.8 m/sec2)
(a) 3.2 m/sec (b) 5.4 m/sec (c) 7.6 m/sec (d) 9.2 m/sec
Sol. [b]
l 1 2 2
mg × =  ml  w
2 3 
1
9.8 = 1 w2
3
w = 5.4 m/s

-6. 3 4 -
Rotational Motion

3. The ratio of the time taken by a solid sphere and that by a disc of the same mass and radius to roll down
a smooth inclined plane from rest from the same height is
(a) 15 : 14 (b) 15 : 14 (c) 14 : 15 (d) 14 : 15
Sol. [d]

t1 1  I1
a2 m1 R12
t2 = =
a1 1 I 2
m2 R22

t1 1 2 14
 5 =
t2 = 1 15
1
2

4. A solid cylinder rolls down on inclined plane which has friction sufficient to prevent sliding. The ratio of
rotational energy to total kinetic energy is
JE

(a) 1/2 (b) 1/3 (c) 2/3 (d) 3/4

Sol. [b]

KR 1 1
ES

= 2 =
K R  KT mR 3
1
I
5. A sphere of mass ' m ' is given some angular velocity about a horizontal axis through its centre and
gently placed on a plank of mass ' m '. The co-efficient of friction between the two is . The plank
an

rests on a smooth horizontal surface. The initial acceleration of the centre of sphere relative to
the plank will be :
(a) zero (b) g m
ka

(c) (7/5) g (d) 2 g

m
Sol. [d]
f
as = = g (Right)
lp

m
f
ap = = g (Left)
m
asp = as – ap = 2g
6. A hollow smooth uniform sphere A of mass ‘m’ rolls without sliding on a smooth horizontal surface. It
collides elastically and headon with another stationary smooth solid sphere B of the same mass m and
same radius. The ratio of kinetic energy of ‘B’ to that of ‘A’ just after the collision is :
A B
v0/R
V0

////////////////////////////////////////////////////////////////

(a) 5 : 2 (b) 1 : 1 (c) 2 : 3 (d) 3 : 2

-6. 3 5 -
 Rotational Motion

Sol. [d]

1 2
mv
KB 2
= = 3/2
KA 12 2 2
 mR  w
2 3 
7. A large spool of rope lies on the ground as shown in the fig. The end, labelled X is pulled a
distance S in the horizontal direction. The spool rolls without slipping. The centre of mass of the
spool moves a distance S
X
(a) 2 S (b) S
S S
(c) (d)
2 4
Sol. [c]
1
Distance travelled by COM = the distance travelled by top end of rope = S/2
2
8. A solid uniform disc of mass m rolls without slipping down an inclined plane with an acceleration
a. The frictional force on the disk due to surface of the plane is
JE

3 1
(a) 2 ma (b) ma (c) ma (d) ma
2 2
Sol. [d]
g sin  2
a= = g sin 
ES

I 3
1 2
mR
mg sin  1 1
f= 2
= mg sin  = ma
mR 3 2
an

1
I
9. A small block of mass ‘m’ is rigidly attached at ‘P’ to a ring of mass ‘3m’ and radius ‘r’. The
system is released from rest at  = 90° and rolls without sliding. The angular acceleration of ring
just after release is
ka

g g 
(a) 4r (b) 8r
lp

g g
(c) (d)
3r 2r
Sol. [b]
Taking torque about O, N
mgr =  3mr 2  mr 2  m( 2r ) 2  

g
 = 8r
C m

mg
O
F

3mg

-6. 3 6 -
Rotational Motion

10. A disc is performing pure rolling on a smooth stationary surface with constant angular velocity
as shown in figure. At any instant, for the lower most point of the disc
v/R

R v

(a) Velocity is v, acceleration is zero

(b) Velocity is zero, acceleration is zero
v2
(c) velocity is v, acceleration is .
R
v2
(d) velocity is zero, acceleration is
R
Sol. [d]

Lower most point in pure rulling has zero velocity and only has centripetal acceleration.
JE
ES
an
ka
lp

-6. 3 7 -
ADD NOTES HERE :-)

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