Unit V: Motion of System of Particles and Rigid

Body
Chapter–7: System of Particles and Rotational Motion
Centre of mass of a two-particle system, momentum conservation and centre of
mass motion. Centre of mass of a rigid body; centre of mass of a uniform rod.
Moment of a force, torque, angular momentum, law of conservation of angular
momentum and its applications. Equilibrium of rigid bodies, rigid body rotation
and equations of rotational motion, comparison of linear and rotational motions.
Moment of inertia, radius of gyration, values of moments of inertia for simple
geometrical objects (no derivation).
DELATED PORTION
Statement of parallel and perpendicular axes theorems and their applications .

Chapter–7: System of Particles and Rotational Motion

Rigid Body
A body is said to be rigid if the distance between any two points in the body
always remains the same even under the action of external forces.
Also a body is said to be rigid if it has a fixed geometrical shape and size which
does not change during motion.
Rotational Motion
A body is said to be in rotational motion if all the particles of the body moves in
circles, the centres of which lies in a straight line called axis of rotation.
Eg: Motion of the blades of a fan, motion of a top, motion of a door etc.
Distinction between translational motion and rotational motion of a rigid
body.
In pure translational motion of a body, all the particles in it will have the same
velocity at an instant of time. Eg:: a rectangular block sliding down an inclined
plane.
Consider a body fixed or pivoted along a straight line. Then it is impossible for
the body to make translational motion. The only possible motion of such a rigid
body is rotation. Thus we can conclude that the motion of a rigid body which is
not pivoted or fixed in some way is either a pure translation or a combination of
translation and rotation. The motion of a rigid body which is pivoted or fixed in
some way is rotation.
Centre of mass
Consider the motion of a system or body consisting of a large number of
particles. There is one point in the body, which behaves as though the entire
mass of the body were concentrated there. Also if external forces are applied on
this point, the body moves as if the external forces are acting on the whole
body. This point is called center of mass of the body.
Hence the center of mass of a system is the point where all the mass of the
system may be assumed to be concentrated and where the resultant of all the
external forces acts.
Centre of mass of a two particle system
Consider a system of two particles with masses m1 and m2 having their position
vectors ⃗⃗⃗⃗⃗
r1 and ⃗⃗⃗⃗⃗
r2 from some arbitrary origin O.
The center of mass will be at a point Q, whose radius vector is given by

If the particles have the same mass, m1 = m2 = m, then

Thus if the particles are having same mass, the centre of mass lies exactly
midway between them.
Velocity of center of mass
The position vector of center of mass of a two particle system is given by M
Acceleration of center of mass.
We know, The velocity of centre of mass,

where v1 and v2 are the velocities of the particles.

Differentiating w r t time,

where a1 and a2 are the accelerations of the

particles

If F1 and F2 are the external forces acting on the particles. Then

Therefore, M aCM = F1 + F 2.
Here M aCM is the total force acting on the body or system. But total force is the
sum of internal and external forces. Since internal force is zero, the total force
acting on the system is external force only.
Therefore, the centre of mass moves as if it were a particle of mass equal to the
total mass of the system and all the external forces are acting on it.
Centre of mass of an N particle system
Consider a system of N particles of masses m1, m2, m3 …….. having radius
vectors ⃗⃗⃗⃗
𝑟1, ⃗⃗⃗⃗
𝑟2 , ⃗⃗⃗⃗
𝑟3 ,.........

Then the total mass of the system, M = m1 + m2 + m3+………

Then, radius vector of centre of mass,

Velocity of centre of mass,

Acceleration of centre of mass

 M aCM = Ftot . ; where Ftot is the total external force acting on the system. where
Ftot is the total external force acting on the system.
Examples of centre of mass motion.
(1) Explosion of a shell in flight.
Consider a shell projected upwards. This shell will follow a parabolic path. Now
let the shell explode during flight. After explosion, the fragments travel in their
own parabolic path. Since the force of explosion are all internal, the center of
mass of the system will continue to follow the same parabolic path of the shell
before explosion.
(2) Motion of earth – moon system
Moon moves round the earth in circular orbit, and earth moves round the sun in
an elliptical orbit. Or we can say that the center of mass of the earth – moon
system moves in an elliptical orbit round the sun.
Hence the force of attraction between earth and moon is internal to earth –
moon system while sun’s attraction on both earth and moon are external.
Linear momentum of a system of particles.
For a system of n particles, the total linear momentum of the system is equal to
the vector sum of momentum of all individual particles.
i.e, p = p1 + p2 + p3 + .....................+ pn.
Now from Newton’s second law,
F = dp / dt ; where F is the total external force.
If F = 0,
dp/dt = 0 . Therefore, p will be a constant i.e, linear momentum will be
conserved.
Examples:-
1) Decay of nucleus: Consider the decay of a parent nuclei at rest into two
fragments. They move in opposite directions with different velocities. Here the
momentum is conserved and the centre of mass of decay product continuous to
be at rest.
2) Motion of binary stars: In case of motion of binary stars, if no external
forces act, the centre of mass moves like a free particle.
Centre of mass of a rigid body
The center of mass of a rigid body is a fixed point with respect to the body as a
whole. Depending on its shape and mass distribution, the center of mass of a rigid
body may or may not be a point within the body.
## Centre of mass of some regular bodies
A uniform rod – at the geometric center.
A ring or a uniform disc – at the center.
A uniform cylinder – at the center of its axis of symmetry.
A triangle – at the point of intersection of the medians.
Torque
The torque or moment of force about a point is the turning effect of force about
that point and is measured as the product of force and the perpendicular
distance between the point and the line of action of the force.
Consider a particle P, whose position vector w r t origin O is 𝑟. Let a force 𝐹 act
on the particle in a direction making an angle ϴ with the direction of 𝑟 . Then
torque, t = F x ON = F x d.

Here d is called moment arm of the force.

The direction of torque vector is normal to the plane containing and .
** Unit of torque = Newton metre ( N m )
Component form of torque

Angular Momentum
The angular momentum is the moment of momentum of the particle about a
point. It is the product of momentum of the particle and perpendicular distance
between the point and direction of momentum.
Consider a particle P whose position vector w r t origin O is . Let 𝑝 = m𝑣be the
momentum of the particle, which makes an angle ϴ with 𝑟 .
Then angular momentum, L = p x d.
L = p x r sinϴ
Angular momentum, 𝐿⃗ =𝑟 x 𝑝
Its direction is perpendicular to the plane containing 𝑟and 𝑝
i.e Rate of change of angular momentum is equal to the torque acting on the
body.
Couple
A pair of equal and opposite forces with different line of action is known as a
couple or torque.
Condition for rotational equilibrium.
A body is said to in rotational equilibrium, when the net torque acting on it is
zero.
Consider a rigid rod suspended by means of a string from a rigid support. Two
forces F1 and F2 acts vertically downwards at the end of the rod as shown.

The force F1 produces a torque or moment of force = F1 x OB and tries to

rotate the rod in the clockwise direction. (If there is F1 alone, the rod will rotate
along clockwise direction)
The force F2 produces a torque = F2 x OA and tries to rotate the rod in the anti
clockwise direction. When these torques or moments of these forces are same,
the rod is in equilibrium and remains horizontal. In that case,
F2 x OA = F1 x OB.
Or in rotational equilibrium, total anti clockwise moment = total clockwise
moments. This is called principle of moments.
The forces can be applied in the form of weights by hanging masses m1 and m2
at the ends. In that case,
F1 = m1g and F2 = m2 g and in equilibrium, F1 x OB = F2 x OA.
i.e. m1g x OB = m2g x OA.
Cancelling g on both sides,
m1 x OB = m2 x OA.
Knowing the values of m2, measuring the values of OA and OB, we can
calculate the value of m1 using the formula
m 1 = m2 xOA/ OB
. when the rod is exactly horizontal.
Note: The point O is called fulcrum. One of the mass m1 can be called the load
and the mass m2 suspended to raise m1 can be called as effort. OB is called
load arm and OA is called effort arm.
Moment of inertia (I).
Inertia in linear motion is the inability of a body to change its state of rest or of
uniform motion in a straight line, without the help of an external force. A
corresponding property of the body in rotational motion is known as moment of
inertia.
“ Moment of inertia of a body about a given axis is defined as the property of
the body by virtue of which it is unable to change its position of rest or of
uniform rotational motion without the help of external torque”.
Moment of inertia depends on two factors:
1) mass of the body.
2) distribution of mass about the axis
of rotation.
Moment of inertia of a particle.
Moment of inertia of a particle about an axis is the product of the mass of the
particle and the square of the distance of the particle from the axis.
If a particle of mass m is placed at a distance r from the axis of rotation, then
moment of inertia, I = mr2.
Unit : kg m2. Dimension : M L2.
Moment of inertia of a rigid body
Consider a rigid body capable of rotating about an axis XY. Let m1, m2, m3 ,…..
be the masses of various particles situated at distances r1,r2,r3,……. from axis
XY. Then moment of inertia of the rigid body
about XY,

Radius of Gyration (K)

The radius of gyration of a body about an axis may be defined as the distance from
the axis to a mass point whose mass is equal to the mass of the whole body and
whose moment of inertia is equal to the moment of inertia of the body about the axis.
Then,

Theorems of Moment of Inertia.

1) Perpendicular axes theorem.
It states that “ the moment of inertia of a plane lamina about an axis
perpendicular to its plane is equal to the sum of the moment of inertia about two
mutually perpendicular axes lying in its plane and intersecting each other at the
point where the perpendicular axis passes through the lamina”.
If IX and IY are the moments of inertia of the lamina about perpendicular r axes
OX and OY in the plane of lamina, then moment of inertia of lamina about
Z axis (OZ) , IZ = IX + IY .

2) Parallel axes theorem

“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 through its center of mass and the
product its mass and square of the distance between the two axes”.
If ICM is the moment of inertia of the body about an axis passing through the
center of mass, then the moment of inertia of the body about a parallel axis
distant a from the axis through center of mass, I = ICM + M a2 ; where M is the
mass of the body.

The moment of inertia of some rigid bodies are given in the table
below.
Work and power in rotational motion.
Consider a force F acting at the rim of a pivoted wheel of radius R. During the action,
the wheel rotates through a small angle dϴ . If this angle is small enough, the
direction of force remains constant.
Let the corresponding displacement is dx within a time interval dt.
Then work done, dw = F dx. = F R dϴ . {Arc length = angle x radius}
But F R is the torque τ .

Work done by torque for a small angular displacement dθ is given by dW =τdθ

and Instantaneous power, P = τω.
Kinetic energy of a rotating body
Consider a rigid body rotating about an axis passing through O with uniform
angular velocity ω. This body can be considered to be made up- of a large
number of particles. Consider one such particle of mass m at a distance r from
O. Then linear velocity of particle, v = r ω.
KE of particle = ½ mv2 = ½ m r2ω2.
KE of whole body = Σ ½ m r2ω2 = ½ ω2 m r2 = ½ Iω2.
Where m r2 = I, the MI of body about the axis.
KE of rotating body = ½ Iω2.
 Angular momentum of a rotating body
The sum of the moments of linear momentum of all the particles of
the body about the axis of rotation is called its angular momentum
about that axis.
Consider a body rotating about an axis. This body is made up of a
large number of particles. Let one such particle of mass m be situated
at a distance r from the axis.
Then linear velocity of particle, v = r ω.
Linear momentum of particle = m v = m r ω.
Moment of linear momentum about the axis = m r ω r. = m r2ω.
Total moment of momentum of the whole body about the axis = m
r2ω = Iω.
Angular momentum, L = Iω.

Torque acting on a rigid body

Consider a rigid body rotating about a fixed axis with angular velocity
ω. Let an external force act on the body. As a result, angular velocity
of body changes. MI will remain constant and angular momentum
changes. The rate of change of angular momentum gives the total
external torque acting on the body.

Law of conservation of angular momentum

When no external torque acts on a system of particles, the angular
momentum of the system remains constant.

Examples
(1) An ice skater or a ballet dancer can increase his angular velocity by drawing
his arms close to his body and bringing his stretched legs close together. ( i.e,
when the body is close together, I = m R2 decreases so ω increases)
(2) A diver after leaving the spring board, curls his body by rolling the arms and
legs inwards, so that I decreases and w increases. As he is about to touch the
water surface, he stretches out his limbs so I increases and the diver enters water
at a gentle speed.
Kinetic energy of rolling motion.
Consider a wheel rolling over a horizontal smooth surface without slipping This
wheel has two types of motion: - (i) Rotational motion about an axis passing
through its centre; and (ii) Linear motion in the horizontal direction.
Therefore, total KE = Translational KE + Rotational KE

Note:
Acceleration of a body rolling down an inclined plane under gravity without
slipping.
 One mark questions
1. What is a Rigid body?
Answer: A Rigid body is one for which the distances between different particles
of the body do not change even though there are forces on them.
2. What is centre of mass of a system of particles?
Answer: Centre of mass of a system of particles is the point where the entire
mass of the system can be assumed to be concentrated.
3. Is moment inertia a vector or a scalar?
Answer: Scalar
Two marks questions
4. How do you find the centre of mass of a triangular lamina.
Answer: Subdivide the lamina (LMN) into narrow strips each parallel to the
base MN as shown in the figure. By symmetry each strip has its centre of mass
at mid-point. Join the midpoint of all the strips, we get a median LP. Therefore
the centre of mass of the triangle as a whole must lie on the median LP.
Similarly it must lie on the median MQ and NR. This means that the centre of
mass lies on the point of concurrence of the median, i.e. on the centroid G of the
triangle. Thus centroid of the triangle itself is the centre of mass of the
triangular lamina
5. Write the expression for the position vector of the centre of mass of a
system consisting of three objects in terms of their masses and position
vectors.

6. Define torque. Is it a vector or a scalar?

Answer: The moment of a force or torque acting on the particle with respect to
the origin is defined on the vector product of position vector and the force
acting on the particle . rxF = τ .It is a vector.
Three marks questions
7. Write three Kinematic equations of rotational motion of a body with a
uniform angular acceleration and explain the terms

8. The angular speed of a motor wheel is increased from 1200rpm to 3120

rpm in 16 seconds. What is its angular acceleration, assuming the
acceleration to be uniform?
9. Obtain an expression for M.I. of a rotating pair of small masses attached
to the two ends of a rigid mass less rod of length l rotating about and axis
through the centre of mass perpendicular to the rod.

Answer: A From the figure each mass is at m/2

Answer: Let us consider hydrogen nucleus as the origin for measuring distance.
If `m’ is the mass of the hydrogen atom, then mass of the chlorine atom = 35.5m
Distance of the centre of moss of Hcl molecule from the origin is given by
11. (a) A child stands at the centre of a turn table with his arm outstretched. The
turn table is set rotating with an angular speed of 40 rev/min. how much is the
angular speed of the child, if he folds his hand 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 K.E. of rotation is more than the initial K.E. of
rotation. How do you account for this increase in Kinetic Energy?

12. A man stands on a rotating plat form, 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 form 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 to76 k gm2
(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 from? given . ω1=30 rpm
Answer: (a) Initial = inertia of the man together with the platform + moment
inertia of the out stretched weight.
(b) Kinetic energy is not conserved. As the moment of inertia decreases, the
K.E. of rotation increases. This change comes from the work done by the man
in bringing his arms close to his body.