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PHY101 Lecture 27 2024

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26 views

PHY101 Lecture 27 2024

Uploaded by

rv451
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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PHY101: Introduction to Physics I

Monsoon Semester 2024


Lecture 27

Department of Physics, School of Natural Sciences,


Shiv Nadar Institution of Eminence, Delhi NCR
Previous Lecture

Dynamics of pure rotation


Rotational kinetic energy

This Lecture

Translation and rotation


Translation and rotation

The angular momentum of the j-th particle is:

The total angular momentum is:


Translation and rotation
The position of the center of mass (COM) is given by:

where M is the total mass of the body.


The position of the particles with respect to the COM is:

Therefore,
Translation and rotation

Let us examine the terms one by one.


First term:

Here and represent the velocity and the momentum of the


Center of Mass, respectively. Thus, the first term is nothing but the
angular momentum of the center of mass.
Translation and rotation
Second term:

Now ! 𝑚! 𝑟! ′
!"#
$ $ $

= ! 𝑚! 𝑟! − 𝑅 = ! 𝑚! 𝑟! − ! 𝑚! 𝑅
!"# !"# !"#

= 𝑀𝑅 − 𝑀𝑅 = 0
Hence, the second term vanishes.
Translation and rotation
Third term:
Translation and rotation
Fourth term:

Therefore, this term represent the angular momentum of the


rigid body with respect to the center of mass.
Collecting all the terms we obtain:
Translation and rotation
The z-component of the angular momentum is:

If we fix the axis of rotation parallel to the z-axis, then

( See the next slide for a rigorous proof )

Here 𝐼% is the moment of inertia of the body about the rotation axis.
Translation and rotation

Ø Hence,the angular momentum of a rigid body is the sum of


the angular momentum about its center of mass and the
angular momentum of the center of mass about the origin.
Ø Thefirst is referred to as the spin orbital angular momentum
and the second term is called the orbital angular momentum.
Ø The motion of the Earth is a is a very
nice example for this.
Ø The daily rotation of the Earth about its
axis gives rise to the earth’s spin angular
momentum, and its annual revolution about
the sun gives rise to the earth’s orbital
angular momentum about the sun.
Translation and rotation
Let us again examine the expression for the total angular
momentum:

Taking the time derivative we obtain:


Translation and rotation

Ø , the net torque on the system about the


chosen origin.

Ø , the net external force on the system.

Ø , ,

the net torque in the center of mass frame.

ØThus,
Total kinetic energy
1 " 1
𝐸 = % 𝑚! 𝑣! = % 𝑚! 𝑣! . 𝑣!
2 2
(Since 𝑟! = 𝑟! + 𝑅, 𝑣! = 𝑟!̇ = 𝑟!̇ ′ + 𝑅,̇
#
1
= % 𝑚! 𝑟!̇ ′ + 𝑉 . 𝑟!̇ ′ + 𝑉 .
2 and 𝑉 = 𝑅̇ )
1 #" ̇ 1
= % 𝑚! 𝑟!̇ + % 𝑚! 𝑟! ′ . 𝑉 + % 𝑚! 𝑉 "
2 2
The 2nd term vanishes (see slides 7 and 8).
Let us consider rotation about z-axis. Then 𝑟!̇ ′ = 𝑟!̇ ′ = 𝜔𝑠!# .
$ $ $ $
Thus, 𝐸 = ∑ 𝑚! 𝑠!#" 𝜔" + " 𝑀𝑉 " = 𝐼% 𝜔 " + " 𝑀𝑉 "
" "

The 1st term is the kinetic energy of the spin and the 2nd
term corresponds to the orbital motion of the center of mass.
Example: angular momentum of a rolling wheel
Calculate the angular momentum of a uniform wheel of mass M
and radius b that rolls uniformly and without slipping.

We will be using the following equation:

The moment of inertia of the wheel about


its center of mass is :

Its angular momentum about the center of mass is :

𝐿% points in the negative z-direction, hence the minus sign.


Example: angular momentum of a rolling wheel

The angular momentum of the center of


mass of the wheel w.r.t. to the origin is :

Since, for a wheel that rolls without slipping.


Example: Drum rolling down a plane
A uniform drum of radius b and mass M rolls
without slipping down a plane inclined at angle θ.
The moment of inertia of the drum around its axis
is . Find the drum’s acceleration along
the plane.
The forces on the drum are shown in the diagram. 𝑓 is the force of
friction. The translation of the center of mass along the plane is given by:

Note here the torque is


For the rotation about the center of mass we have: in the negative z
direction and the angular
acceleration is in the
clockwise direction.
Since the drum is rolling without slipping, we can write:
Using (2) in (1) we can eliminate 𝑓 as

Now using (3), , and in the above equation we get:

Or,

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