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Chapter 09

Chapter 9 of Physics 1214 covers the principles of rotational motion, including angular velocity, acceleration, and kinematics, while relating linear and angular quantities. It discusses kinetic energy in rotating systems, moments of inertia, and potential energy of rigid bodies, along with various examples to illustrate these concepts. The chapter also addresses the total kinetic energy of a rigid body in motion, emphasizing the relationship between translational and rotational motion.

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4 views

Chapter 09

Chapter 9 of Physics 1214 covers the principles of rotational motion, including angular velocity, acceleration, and kinematics, while relating linear and angular quantities. It discusses kinetic energy in rotating systems, moments of inertia, and potential energy of rigid bodies, along with various examples to illustrate these concepts. The chapter also addresses the total kinetic energy of a rigid body in motion, emphasizing the relationship between translational and rotational motion.

Uploaded by

rose Bernice
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Physics 1214

Chapter 9
Rotational Motion
Rotation
How do we describe the motion of a rigid object under
rotation?
Different points have different displacement, velocity, and
acceleration vectors.
A rotation can easily be described in terms of angular
coordinates. The motion of the entire object can be
described by a single quantity.
𝑠𝑠
𝜃𝜃 = 𝑠𝑠 = 𝑟𝑟𝑟𝑟
𝑟𝑟
2𝜋𝜋 𝑟𝑟𝑟𝑟𝑟𝑟 = 360°
𝜃𝜃 in radians
360°
1 𝑟𝑟𝑟𝑟𝑟𝑟 = ≈ 57.3°
2𝜋𝜋
Angular Velocity and Acceleration
How do we describe the motion of a rigid object under rotation?
Δ𝑥𝑥 Δ𝜃𝜃 Δ𝜃𝜃
𝑣𝑣𝑎𝑎𝑎𝑎,𝑥𝑥 = → 𝜔𝜔𝑎𝑎𝑎𝑎 = → 𝜔𝜔 = lim Units: rad/s
Δ𝑡𝑡 Δ𝑡𝑡 Δ𝑡𝑡→0 Δ𝑡𝑡

Δ𝑣𝑣𝑥𝑥 Δ𝜔𝜔 Δ𝜔𝜔


𝑎𝑎𝑎𝑎𝑎𝑎,𝑥𝑥 = → 𝛼𝛼𝑎𝑎𝑎𝑎 = → 𝛼𝛼 = lim Units: rad/s 2
Δ𝑡𝑡 Δ𝑡𝑡 Δ𝑡𝑡→0 Δ𝑡𝑡
Angular Kinematics
Quantity Linear Angular
Displacement Δ𝑥𝑥 Δ𝜃𝜃
The same equations of kinematics can be derived: Velocity 𝑣𝑣𝑥𝑥 𝜔𝜔
Acceleration 𝑎𝑎𝑥𝑥 𝛼𝛼
Time 𝑡𝑡 𝑡𝑡
Example 9.2
The angular velocity of the rear wheel of a stationary exercise bike is 4.00 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠 at
time 𝑡𝑡 = 0, and its angular acceleration is constant and equal to 2.000 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠 2 . A
particular spoke coincides with the +𝑥𝑥 axis at time 𝑡𝑡 = 0.
A. What angle does this spoke make with the +𝑥𝑥 axis at time 𝑡𝑡 = 3.00 𝑠𝑠
B. What is the wheel’s angular velocity at this time?
Relating Linear and Angular Kinematics
Δ𝑠𝑠 = 𝑟𝑟Δ𝜃𝜃 Δ𝑣𝑣 = 𝑟𝑟Δ𝜔𝜔

Δ𝑠𝑠 Δ𝜃𝜃 Δ𝑣𝑣 Δ𝜔𝜔


𝑣𝑣𝑎𝑎𝑎𝑎 = = 𝑟𝑟 = 𝑟𝑟𝜔𝜔𝑎𝑎𝑎𝑎 𝑎𝑎𝑡𝑡𝑡𝑡𝑡𝑡 𝑎𝑎𝑎𝑎 = = 𝑟𝑟 = 𝑟𝑟𝛼𝛼𝑎𝑎𝑎𝑎
Δ𝑡𝑡 Δ𝑡𝑡 Δ𝑡𝑡 Δ𝑡𝑡
𝑣𝑣 = 𝑟𝑟𝑟𝑟 𝑣𝑣 2 𝑟𝑟𝑟𝑟 2
𝑎𝑎𝑟𝑟𝑟𝑟𝑟𝑟 = = = 𝑟𝑟𝜔𝜔2
𝑟𝑟 𝑟𝑟

𝑎𝑎𝑟𝑟𝑟𝑟𝑟𝑟 = 𝑟𝑟𝜔𝜔2
𝑎𝑎𝑡𝑡𝑡𝑡𝑡𝑡 = 𝑟𝑟𝑟𝑟

2 2
𝑎𝑎⃗ = 𝑎𝑎𝑟𝑟𝑟𝑟𝑟𝑟 + 𝑎𝑎𝑡𝑡𝑡𝑡𝑡𝑡
Example 9.3
A discus thrower turns with angular acceleration 𝛼𝛼 = 50 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠 2 , moving the discus in
a circle of radius 0.80 𝑚𝑚.
A. Find the radial and tangential components of acceleration of the discus (modeled
as a point) when the angular velocity is 10 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠.
B. Find the magnitude of its acceleration at the instant when the angular velocity is
10 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠.
Example 9.5
Consider the rotational motion of two bicycle sprockets that are connected to each
other by a chain. Find how the angular speeds of the two sprockets are related to their
respective numbers of teeth, 𝑁𝑁𝐴𝐴 and 𝑁𝑁𝐵𝐵 .
Kinetic Energy
Consider the rigid body rotating about a fixed point. The kinetic energy can be written
as a sum for a discretized version of a continuous system.
1 1 1
2
𝐾𝐾 = � 𝑚𝑚𝑖𝑖 𝑣𝑣𝑖𝑖 = � 𝑚𝑚𝑖𝑖 𝑟𝑟𝑖𝑖 𝜔𝜔 2
= � 𝑚𝑚𝑖𝑖 𝑟𝑟𝑖𝑖2 𝜔𝜔2
2 2 2
𝑖𝑖 𝑖𝑖 𝑖𝑖

We define 𝐼𝐼 is the Moment of Inertia as: 𝐼𝐼 = � 𝑚𝑚𝑖𝑖 𝑟𝑟𝑖𝑖2


𝑖𝑖

The rotational kinetic energy of an object can be


expressed by:
1 2
𝐾𝐾 = 𝐼𝐼𝜔𝜔
2
Example 9.6
In order to determine the moment of inertia, we first have to specify the axis of
rotation.
A. Find the moment of inertia about the axis passing through spheres 𝐵𝐵 and 𝐶𝐶.
B. Find the moment of inertia about the axis that passes through sphere 𝐴𝐴 and is
perpendicular to the rod connecting spheres 𝐵𝐵 and 𝐶𝐶.
C. Find the kinetic energy of the sculpture if it rotates with angular velocity 4 𝑟𝑟𝑟𝑟𝑟𝑟/𝑠𝑠.
Moments of Inertia
Example 9.7
A light, flexible, nonstretching cable is wrapped several times around a winch drum
(solid cylinder) with mass 50 𝑘𝑘𝑘𝑘 and diameter 0.12 𝑚𝑚 that rotates about a stationary
horizontal axis turning on frictionless bearings. The free end of the cable is pulled with
a constant force of magnitude 9.0 𝑁𝑁 for a distance of 2.0 𝑚𝑚. It unwinds without
slipping, turning the cylinder as it does so. If the cylinder is initially at rest, find its final
angular velocity and the final speed of the cable.
Example 9.8
A bucket of mass 𝑚𝑚 is suspended over a well by a winch and
rope. The winch consists of a solid cylinder with mass 𝑀𝑀 and
radius 𝑅𝑅 about which the rope is wrapped. A handle is
attached to one end in order to rotate the cylinder. For the
purposes of this example, we are going to ignore any
frictional forces in the winch. Now suppose that the winch
handle breaks off, allowing the bucket to fall to the water as
the rope unwinds from the cylinder.

Find the speed 𝑣𝑣 of the bucket and the angular velocity 𝜔𝜔 of


the cylinder just before the bucket hits the water. Assume
that the water level is at a depth ℎ below the bucket.
Potential Energy of a Rigid Body
𝑦𝑦
We can represent the body as a collection of mass elements
𝑚𝑚𝑖𝑖 . The weight of element 𝑚𝑚𝑖𝑖 is 𝑚𝑚𝑖𝑖 𝑔𝑔, its potential energy is
𝑚𝑚𝑖𝑖 𝑔𝑔𝑦𝑦𝑖𝑖 and the total potential energy is: 𝑈𝑈 = ∑𝑚𝑚𝑖𝑖 𝑔𝑔𝑦𝑦𝑖𝑖
𝑥𝑥𝑐𝑐𝑐𝑐 , 𝑦𝑦𝑐𝑐𝑐𝑐
∑𝑚𝑚𝑖𝑖 𝑦𝑦𝑖𝑖
Recall: 𝑦𝑦𝑐𝑐𝑐𝑐 = ⇒ ∑𝑚𝑚𝑖𝑖 𝑦𝑦𝑖𝑖 = ∑𝑚𝑚𝑖𝑖 𝑦𝑦𝑐𝑐𝑐𝑐 = 𝑀𝑀𝑦𝑦𝑐𝑐𝑐𝑐
∑𝑚𝑚𝑖𝑖

𝑈𝑈 = 𝑀𝑀𝑀𝑀𝑦𝑦𝑐𝑐𝑐𝑐

In a uniform gravitational field, the gravitational potential


energy of a rigid body is the same as though all the mass were
concentrated at the center of mass of the body.
Rotation About a Moving Axis
Consider some situations in which the axis moves

Examples include a ball rolling down a hill and a yo-yo dropping


as the string unwinds. We can apply energy considerations to
such problems, but we need two additional principles:

1. Every possible motion of a rigid body can be represented as a


combination of motion of the center of mass and rotation
about an axis through the center of mass.

2. The total kinetic energy can always be represented as the sum


of a part associated with motion of the center of mass, treated
as a point, plus a part associated with rotation about an axis
through the center of mass.
Rotation About a Moving Axis

Suppose the rigid body has mass 𝑀𝑀 and moment of inertia 𝐼𝐼𝑐𝑐𝑐𝑐
about the axis through the center of mass.

If the center of mass has translational motion with velocity of


magnitude 𝑣𝑣𝑐𝑐𝑐𝑐 , and the object rotates with angular velocity 𝜔𝜔
about this axis, the total kinetic energy is given by:

1 1
𝐾𝐾𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 = 𝐾𝐾𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡𝑡 + 𝐾𝐾𝑟𝑟𝑟𝑟𝑟𝑟 2
= 𝑀𝑀𝑣𝑣𝑐𝑐𝑐𝑐 + 𝐼𝐼𝑐𝑐𝑐𝑐 𝜔𝜔2
2 2

For the specific case of an object rolling without slipping, 𝑣𝑣𝑐𝑐𝑐𝑐 and 𝜔𝜔 are related to
each other by 𝑣𝑣𝑐𝑐𝑐𝑐 = 𝑅𝑅𝑅𝑅 where 𝑅𝑅 is the radius of the object.
Example 9.9
A yo-yo in the form of a solid disk with radius 𝑅𝑅 and
total mass 𝑀𝑀. It is released from rest, the supporting
hand is stationary, and the string unwinds without
slipping.
Find an expression for the speed 𝑣𝑣𝑐𝑐𝑐𝑐 of the center of
mass of the solid cylinder after it has dropped a
distance ℎ.
Example 9.10
In a common lecture demonstration, an instructor “races” various round objects by
releasing them from rest at the top of an inclined plane and letting them roll down the
plane. Before the objects are released, the students guess (and sometimes bet on)
which object will win.

How much faster is the solid cylinder moving at the bottom of the ramp than the
hollow cylinder?

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