?

These jugglers toss the pins so that they

rotate in midair. Each pin is of uniform
composition, so its weight is concentrated
toward its thick end. If we ignore air resis-
tance but not the effects of gravity, will the
angular speed of a pin in flight (i) increase
continuously; (ii) decrease continuously;
(iii) alternately increase and decrease; or
(iv) remain the same?

10  ynamics of Rotational
D
Motion
W
LEARNING OUTCOMES e learned in Chapters 4 and 5 that a net force applied to an object gives that ob-
In this chapter, you’ll learn...
ject an acceleration. But what does it take to give an object an angular accelera-
10.1 What is meant by the torque produced
tion? That is, what does it take to start a stationary object rotating or to bring a
by a force. spinning object to a halt? A force is required, but it must be applied in a way that gives a
10.2 How the net torque on a rigid body twisting or turning action.
­affects the body’s rotational motion. In this chapter we’ll define a new physical quantity, torque, that describes the twisting
10.3 How to analyze the motion of a rigid
or turning effort of a force. We’ll find that the net torque acting on a rigid body deter-
body that both rotates and moves as a
whole through space.
mines its angular acceleration, in the same way that the net force on an object determines
10.4 How to solve problems that involve work its linear acceleration. We’ll also look at work and power in rotational motion so as to un-
and power for rotating rigid bodies. derstand, for example, how energy is transferred by an electric motor. Next we’ll develop
10.5 What is meant by the angular momen- a new conservation principle, conservation of angular momentum, that is tremendously
tum of a particle or rigid body. useful for understanding the rotational motion of both rigid and nonrigid bodies. We’ll
10.6 How the angular momentum of an object
can remain constant even if the object
finish this chapter by studying gyroscopes, rotating devices that don’t fall over when you
changes shape. might think they should—but that actually behave in accordance with the dynamics of
10.7 Why a spinning gyroscope undergoes rotational motion.
precession.

You’ll need to review...

1.10 Vector product of two vectors. 10.1 TORQUE
5.2 Newton’s second law.
6.1–6.4 Work, the work–energy theorem, and
We know that forces acting on an object can affect its translational motion—that is, the
power. motion of the object as a whole through space. Now we want to learn which aspects of a
8.2, 8.3, 8.5 E xternal versus internal forces, force determine how effective it is in causing or changing rotational motion. The mag-
inelastic collisions, and nitude and direction of the force are important, but so is the point on the object where S
center-of-mass motion. the force is applied. In Fig. 10.1 a wrench is being used to loosen a tight Sbolt. Force Fb ,
9.1–9.5 Rotational motion and the
parallel-axis theorem.
applied near theS end of the handle, is more effective than an equal force Fa applied near
the Sbolt. Force Fc does no good; it’s applied at the same point and has the same magnitude
as Fb , but it’s directed along the length of the handle. The quantitative measure of the
tendencySof a force to cause or change an object’s rotational motion isS called torque; we
say that Fa applies a Storque about point O to the wrench in Fig. 10.1, Fb applies a greater
torque about O, and Fc applies zero torque about O.
302
 10.1 Torque    303

Figure 10.2 shows three examples of how to calculate torque. The object can rotate Figure 10.1 Which of these three equal-
about an axis that is perpendicular to the plane of the figure and passes through point O. magnitude forces is most likely to loosen
the tight bolt?
Three forces
S
act on the object in the plane of the figure. The tendency of the first of these
forces, F1 , to cause a rotation about O depends on its magnitude F1 . It also depends on the
perpendicular distance l1 between point O and the line of action of the force (that is, the Axis of rotation
O
line along which S
the force vector lies). We call the distance l1 the lever arm (or moment Force close to axis of
arm) of force F1 about O. The twisting effort isS directly proportional to both F1 and l1 , so S
Fa rotation: not very
we define the torque (or moment) of the force F1 with respect to O as the product F1 l1 . We effective
use the Greek letter t (tau) for torque. If a force of magnitude F has a line of action that is
a perpendicular distance l from O, the torque is Force farther from
axis of rotation:
t = Fl (10.1) more effective
S
Physicists usually use the term “torque,” while engineers usually use “moment” (unless Fc S
Fb
they are talking aboutS a rotating shaft). Force directed
toward axis of
S
The lever arm of F1 in Fig. 10.2 is the perpendicular Sdistance l1 , and the lever arm of rotation: no effect
F2 is the perpendicular
S
distance l2 . The line of action of F3 passes through point O, so the
lever
S
arm for F3 is zero and its torque with respect to O Sis zero. In the same way, force S
Fc in Fig. 10.1 has zero torque with respect to point O; Fb has a greater torque than Fa Figure 10.2 The torque of a force about a
­because its lever arm is greater. point is the product of the force magnitude
and the lever arm of the force.
   CAUTION    Torque is always measured about a point Torque is always defined with reference S
to a specific point. If we shiftS the position of this point, the torque of each force may change. For F1 tends to cause counterclockwise rotation
­example, the torque of force F3 in Fig. 10.2 is zeroSwith respect to point O but not with respect to about point O, so its torque is positive:
point A. It’s not enough to refer
S
to “the torque of F”; you must say “the torque of F with respect t1 = +F1l1
S
to point X” or “the torque of F about point X.” ❙ Line ofSaction
S
F1 of F1
S S
Force F1 in Fig. 10.2 tends to cause counterclockwise rotation about O, while F2 tends
to cause clockwise rotation. To distinguish between these two possibilities, we need to A
choose a positive sense of rotation. With the choice that counterclockwise
S S
torques are S
F3 l1 Lever S
positive and clockwise torques are negative, the torques of F1 and F2 about O are
l2 armsSof F1
O
t1 = +F1 l1 t2 = -F2 l2 and F2
S
Figure 10.2 shows this choice for the sign of torque. We’ll often use the symbol + to indi-
V The line of action of F3
passes through point O, S
cate our choice of the positive sense of rotation. F2 Line of S
so the lever arm and action of F2
The SI unit of torque is the newton-meter. In our discussion of work and energy we hence the torque are zero.
called this combination the joule. But torque is not work or energy, and torque should be
expressed in newton-meters, notS joules.
S
Figure 10.3 shows a force F applied at point P, located
S
at position r with respect to S

point O. There are three ways to calculate the torque of F: F2 tends to cause clockwise rotation about point
O, so its torque is negative: t2 = -F2l2
1. Find the lever arm l and use t = Fl.
S S
2. Determine the angle f between the vectors r and F; the lever arm is r sin f, so
t = rF sin f. Figure 10.3 Three
S
ways to calculate the
S S torque of forceS F about point O. In this
3. Represent F in terms of a radial component Frad along the direction of r and a tan- S
figure, r and F are in the plane of the page
S
gential component Ftan at right angles, perpendicular to r . (We call this compo- S
and the torque vector T points out of the
nent tangential because if the object rotates, the point where the force acts moves page toward you.
in a circle, and this component is tangent to that circle.) Then Ftan = F sin f and Three ways to calculate torque:
t = r1F sin f2 = Ftan r. The component Frad produces no torque with respect S
to t = Fl = rF sin f = Ftanr
S
O because its Slever arm with respect to that point is zero (compare to forces Fc in F
Fig. 10.1 and F3 in Fig. 10.2). Ftan = F sin f
Summarizing these three expressions for torque, we have f
Frad = F cos f
S
Magnitude of r (vector from S P
S S T
Lever arm of F O to where F acts) (out of page)
Magnitude of S
torque Line of action of F
S

due to force F t = Fl = rF sin f = Ftanr (10.2) S

r f
relative to point O S
Magnitude of F Angle Sbetween Tangential
S S l = r sin f
r and F component of F O = lever arm
304    CHAPTER 10 Dynamics of Rotational Motion

Torque as a Vector
S S S
Figure 10.4 The torque vector T ∙ r : F
is directed along the axis Sof the bolt, per- We saw in Section 9.1 that angular velocity and angular acceleration can be represented as
S
pendicular to both r and F. The fingers of
the right hand curl in the direction of the vectors; the same is true for torque. To see how to do this,S
note that the quantity rF sin f
S
rotation that the torque tends to cause. in Eq. (10.2) is the magnitude of the vector product r : F that we defined in Section 1.10.
(Go back and Sreview that definition.) We generalize the definition of torque as follows:
S
S
When a force F acts at a point having a position vector r with respect to an origin O, as in
T S
Fig. 10.3, the torque T of the force with respect to O is the vector quantity
S
Torque vector S
Vector from O to where F acts
S
due to force F S S
S
r T=r: F S (10.3)
S relative to point O Force F
F
(out of page)
S S
The torque as defined in Eq. (10.2) is the magnitude
S
of the torque vector Sr : F. The di-
S S S
rection of T is perpendicular to both r and F. In particular, if both r and F lie in a plane
S
S S
perpendicular to the axis of rotation, as in Fig. 10.3, then the torque vector T ∙ r : F is
If you point the fingers of your right hand in directed along the axis of rotation, with a sense given by the right-hand rule (see Fig. 1.30
S
the direction Sof r and then curl them in the
direction of F, your outstretched thumb points and Fig. 10.4). S S
S S S
S
in the direction of T. S
r Because T ∙ r : F is perpendicular to the plane of the vectors r and F, it’s common
S
F to have diagrams like Fig. 10.4, in which one of the vectors is perpendicular to the page.
(out of page) We use a dot ( ) to represent a vector that points out of the page and a cross ( ) to repre-
sent a vector that points into the page (see Figs. 10.3 and 10.4).
In the following sections we’ll usually be concerned with rotation of an object about an
axis oriented in a specified constant direction. In that case, only the component of torque
along that axis will matter. We often call that component the torque with respect to the
specified axis.
S
T

EXAMPLE 10.1 Applying a torque

To loosen a pipe fitting, a plumber slips a piece of scrap pipe (a EXECUTE To use Eq. (10.1), we first calculate the lever arm l. As
“cheater”) over his wrench handle. He stands on the end of the cheater, Fig. 10.5b shows,
applying his 900 N weight at a point 0.80 m from the center of the fit-
ting (Fig. 10.5a). The wrench handle and cheater make an angle of 19° l = r sin f = 10.80 m2 sin 109° = 0.76 m
with the horizontal. Find the magnitude and direction of the torque he
applies about the center of the fitting. Then Eq. (10.1) tells us that the magnitude of the torque is

t = Fl = 1900 N210.76 m2 = 680 N # m

S S
IDENTIFY and SET UP Figure 10.5b shows the vectors r and F and the
angle between them 1f = 109°2. Equation (10.1) or (10.2) will tell us
the magnitude
S
of the torque. The right-hand rule with Eq. (10.3), We get the same result from Eq. (10.2):
S S
T ∙ r : F, will tell us the direction of the torque.
t = rF sin f = 10.80 m21900 N21sin 109°2 = 680 N # m

Figure 10.5 (a) Loosening a pipe fitting by standing on a “cheater.” (b) Our vector diagram to find the torque about O.
(a) Diagram of situation (b) Free-body diagram

Point at which force acts Line of action of force

Position vector from point O to the
0.80 m point at which the force acts
Angle f between line
of action of force and
F = 900 N Point where axis of
radial direction
19° rotation intersects
plane of diagram

Lever arm (perpendicular distance from

axis of rotation to line of action of force)
 10.2 Torque and Angular Acceleration for a Rigid Body     305

S
Alternatively, we can find Ftan, the tangential component of F that S
EVALUATE To check the direction of T, note that the force in Fig. 10.5
S
acts perpendicular to r . Figure 10.5b shows
S
that this component is tends to produce a counterclockwise rotation about O. If you curl the fin-
at an angle of 109° - 90° = 19° from F, so Ftan = F1cos 19°2 = gers of your right hand in a counterclockwise direction, the thumb points
1900 N21cos 19°2 = 851 N. Then, from Eq. (10.2), out of the plane of Fig. 10.5, which is indeed the direction of the torque.

t = Ftanr = 1851 N210.80 m2 = 680 N # m KEYCONCEPT S

You can determine the magnitude of the torque
S
due
to a force F in any of three ways: (i) from
S
the magnitude of F and the
S
S
Curl the fingers of your right hand from the directionSof r (in the plane lever arm; (ii) from the magnitude
S
of F, the magnitude of the vector
S
r
S
of Fig. 10.5b, to the left and up) into the direction of F (straight down). from the origin to where F acts, and the angle between r andS F; or
S
Then your right thumb points out of the plane of the figure: This is the (iii) from the magnitude of r and the tangential component of F. Find
S
direction of T. the direction of the torque using the right-hand rule.

TEST YOUR UNDERSTANDING OF SECTION 10.1 The accompanying figure shows a force P
of magnitude P being applied to one end of a lever of length L. What is the magnitude of the torque
of this force about point A? (i) PL sin u; (ii) PL cos u; (iii) PL tan u; (iv) PL>sin u; (v) PL.
t = PL cos u.
ANSWER L
the magnitude of the torque is the product of the force magnitude P and the lever arm L cos u, or
from A to the line of action. This is the horizontal component of distance L, which is L cos u. Hence
❙ (ii) The force of magnitude P acts along a vertical line, so the lever arm is the horizontal distance u
A

10.2 TORQUE AND ANGULAR ACCELERATION

FOR A RIGID BODY
We’re now ready to develop the fundamental relationship for the rotational dynamics of
a rigid body (an object with a definite and unchanging shape and size). We’ll show that
the angular acceleration of a rotating rigid body is directly proportional to the sum of the
torque components along the axis of rotation. The proportionality factor is the moment of
inertia.
To develop this relationship, let’s begin as we did in Section 9.4 by envisioning the rigid
Figure 10.6 As a rigidS body rotates around
body as being made up of a large number of particles. We choose the axis of rotation to the z-axis, a net force F1 acts on one par-
be the z-axis;
S
the first particle has mass m1 and distance r1 from this axis (Fig. 10.6). The ticle of the body. Only the force component
net force F1 acting on this particle has a component F1, rad along the radial direction, a F1, tan can affect the rotation, because only
component F1, tan that is tangent to the circle of radius r1 in which the particle moves as the F1, tan exerts a torque about O with a
body rotates, and a component F1z along the axis of rotation. Newton’s second law for the z-component (along the rotation axis).
tangential component is Force component Only the tangential
along axis of rotation force component
F1, tan = m1 a1, tan(10.4) produces a z-com-
Axis of z
ponent of torque.
rotation
We can express the tangential acceleration of the first particle in terms of the angular ac- F1z Rotating
celeration az of the body by using Eq. (9.14): a1, tan = r1 az . Using this relationship and r1 rigid
F1, tan body
multiplying both sides of Eq. (10.4) by r1 , we obtain
Path of m1
F1, rad
F1, tan r1 = m1 r 12 az(10.5) particle as
rigid body S
r
rotates y Radial force
From Eq. (10.2), F1, tan r1 is the torque of the net force with respect to the rotation axis, component
equal to the component t1z of the torque vector along the rotation axis. The subscript z
O x
is a reminder that the torque affects rotation around the z-axis, in the same way that the
subscript on F1z is a reminder that this force affects the motion of particle 1 along the
z-axis.
Neither of the components F1, rad or F1z contributes to the torque about the z-axis, since
neither tends to change the particle’s rotation about that axis. So t1z = F1, tan r1 is the total
torque acting on the particle with respect to the rotation axis. Also, m1 r12 is I1 , the moment
of inertia of the particle about the rotation axis. Hence we can rewrite Eq. (10.5) as

t1z = I1 az = m1 r12az
306    CHAPTER 10 Dynamics of Rotational Motion

Figure 10.7 Loosening or tightening a We write such an equation for every particle in the body, then add all these equations:
screw requires giving it an angular ac-
celeration and hence applying a torque. To t1z + t2z + g = I1 az + I2 az + g = m1 r12 az + m2 r 22 az + g

g tiz = 1 g mi ri 22 az
make this easier, use a screwdriver with a or
large-radius handle. This provides a large
(10.6)
lever arm for the force your hand applies.

all the particles. The right side is I = g mi ri 2, the total moment of inertia about the rota-
The left side of Eq. (10.6) is the sum of all the torques about the rotation axis that act on

tion axis, multiplied by the angular acceleration az . Note that az is the same for every par-
ticle because this is a rigid body. Thus Eq. (10.6) says that for the rigid body as a whole,
Rotational analog of Newton’s second law for a rigid body:
Moment of inertia of

a tz = Iaz
Net torque on a rigid body about z-axis
rigid body (10.7)
about z-axis Angular acceleration of
rigid body about z-axis

Figure 10.8 Why only external torques Just as Newton’s second law says that a net force on a particle causes an acceleration in
affect a rigid body’s rotation: Any two par-
ticles in the body exert equal and opposite the direction of the net force, Eq. (10.7) says that a net torque on a rigid body about an axis
forces on each other. If the forces act along causes an angular acceleration about that axis (Fig. 10.7).
the line joining the particles, the lever arms Our derivation assumed that the angular acceleration az is the same for all particles in
of the forces with respect to an axis through the body. So Eq. (10.7) is valid only for rigid bodies. Hence this equation doesn’t apply to
O are the same and the torques due to the a rotating tank of water or a swirling tornado of air, different parts of which have different
two forces are equal and opposite.
angular accelerations. Note that since our derivation used Eq. (9.14), atan = raz , az must
Action–reaction force pair Line of action be measured in rad>s2.
whose torques cancel: of both forces
t1 on 2 = +Fl
The torque on each particle is due to the net force on that particle, which is the vector
t2 on 1 = -Fl S sum of external and internal forces (see Section 8.2). According to Newton’s third law, the
F1 on 2
Particle 2 internal forces that any pair of particles in the rigid body exert on each other are equal in
magnitude and opposite in direction (Fig. 10.8). If these forces act along the line joining
the two particles, their lever arms with respect to any axis are also equal. So the torques

add to zero, so the sum g tz in Eq. (10.7) includes only the torques of the external forces.
S
F2 on 1 S
T1 on 2 for each such pair are equal and opposite, and add to zero. Hence all the internal torques
l
Particle 1
O
Often, an important external force acting on a rigid body is its weight. This force is not
S
S concentrated at a single point; it acts on every particle in the entire body. Nevertheless, if g has
Lever arm l T2 on 1
of both forces the same value at all points, we always get the correct torque (about any specified axis) if we
assume that all the weight is concentrated at the center of mass of the body. We’ll prove this
statement in Chapter 11, but meanwhile we’ll use it for some of the problems in this chapter.

PROBLEM-SOLVING STRATEGY 10.1 Rotational Dynamics for Rigid Bodies

Our strategy for solving problems in rotational dynamics is very sim- EXECUTE the solution:

tational motion, or both. Then apply gF ∙ ma (as in Section 5.2),

ilar to Problem-Solving Strategy 5.2 for solving problems involving 1. For each body, decide whether it undergoes translational motion, ro­

gtz = Iaz , or both to the body.

Newton’s second law. S S

IDENTIFY the relevant concepts: Equation (10.7), gtz = Iaz , is use-

ful whenever torques act on a rigid body. Sometimes you can use an 2. Express in algebraic form any geometrical relationships between
energy approach instead, as we did in Section 9.4. However, if the the motions of two or more bodies. An example is a string that un-

eration, or an elapsed time, using gtz = Iaz is almost always best.

target variable is a force, a torque, an acceleration, an angular accel- winds, without slipping, from a pulley or a wheel that rolls without
slipping (discussed in Section 10.3). These relationships usually ap-
pear as relationships between linear and>or angular accelerations.
SET UP the problem using the following steps:
3. Ensure that you have as many independent equations as there are
1. Sketch the situation and identify the body or bodies to be ana-
unknowns. Solve the equations to find the target variables.
lyzed. Indicate the rotation axis.
2. For each body, draw a free-body diagram that shows the body’s EVALUATE your answer: Check that the algebraic signs of your re-
shape, including all dimensions and angles. Label pertinent sults make sense. As an example, if you are unrolling thread from a
quantities with algebraic symbols. spool, your answers should not tell you that the spool is turning in
the direction that rolls the thread back onto the spool! Check that any
3. Choose coordinate axes for each body and indicate a positive sense
algebraic results are correct for special cases or for extreme values of
of rotation (clockwise or counterclockwise) for each rotating body. If
quantities.
you know the sense of az, pick that as the positive sense of rotation.
 10.2 Torque and Angular Acceleration for a Rigid Body     307

EXAMPLE 10.2 An unwinding cable I WITH ARIATION PROBLEMS

Figure 10.9a shows the situation that we analyzed in Example 9.7 To get the linear acceleration of the cable, recall from Section 9.3
using energy methods. What is the cable’s acceleration? that the acceleration of a cable unwinding from a cylinder is the same
as the tangential acceleration of a point on the surface of the cylinder
IDENTIFY and SET UP We can’t use the energy method of Section 9.4,
where the cable is tangent to it. This tangential acceleration is given by
which doesn’t involve acceleration. Instead we’ll apply rotational dy-
Eq. (9.14):
namics to find the angular acceleration of the cylinder (Fig. 10.9b).
We’ll then find a relationship between the motion of the cable and the atan = Raz = 10.060 m216.0 rad>s22 = 0.36 m>s2
motion of the cylinder rim, and use this to find the acceleration of the
cable. The cylinder rotates counterclockwise when the cable is pulled, EVALUATE Can you use this result, together with an equation from
so we take counterclockwise rotation to be positive. The net force on Chapter 2, to determine the speed of the cable after it has been pulled
the cylinder must be zero because its center of mass remains at rest. The 2.0 m? Does your result agree with that of Example 9.7?
force F exerted by the cable produces a torque about the rotation axis.
The weight (magnitude Mg) and the normal force (magnitude n) exerted KEYCONCEPT For any problem involving torques on a rigid body,
by the cylinder’s bearings produce no torque about the rotation axis be- first draw a free-body diagram to identify where on the rigid body each

rotational analog of Newton’s second law, gtz = Iaz.

cause both act along lines through that axis. external force acts with respect to the axis of rotation. Then apply the

EXECUTE The lever arm of F is equal to the radius R = 0.060 m of the

cylinder, so the torque is tz = FR. (This torque is positive, as it tends
to cause a counterclockwise rotation.) From Table 9.2, case (f), the mo-
ment of inertia of the cylinder about the rotation axis is I = 12 MR2. Then
Eq. (10.7) tells us that

tz FR 2F 219.0 N2
az = = 2>2
= = = 6.0 rad>s2
I MR MR 150 kg210.060 m2
(We can add “rad” to our result because radians are dimensionless.)

Figure 10.9 (a) Cylinder and cable. (b) Our free-body diagram for the cylinder.
(a) (b) F acts tangent to the cylinder’s The weight and
surface, so its lever arm normal force both
is the radius R. act on a line through
9.0 N the axis of rotation,
so they exert no
torque.

50 kg 0.120 m

Counterclockwise
torques are positive.

EXAMPLE 10.3 An unwinding cable II WITH ARIATION PROBLEMS

In Example 9.8 (Section 9.4), what are the acceleration of the falling As in Example 10.2, the acceleration of the cable is the same as the tan-
block and the tension in the cable? gential acceleration of a point on the cylinder rim. From Eq. (9.14), this
IDENTIFY and SET UP We’ll apply translational dynamics to the block
acceleration is ay = atan = Raz . We use this to replace Raz with ay in
and rotational dynamics to the cylinder. As in Example 10.2, we’ll ­relate the cylinder equation above, and divide by R. The result is T = 12 May .
the linear acceleration of the block (our target variable) to the angular Now we substitute this expression for T into Newton’s second law for
acceleration of the cylinder. Figure 10.10 (next page) shows our sketch the block and solve for the acceleration ay :
of the situation and a free-body diagram for each object. We take the mg - 12 May = may
positive sense of rotation for the cylinder to be counterclockwise and g
the positive direction of the y-coordinate for the block to be downward. ay =
1 + M>2m
EXECUTE For the block, Newton’s second law gives

gFy = mg + 1- T2 = may
To find the cable tension T, we substitute our expression for ay into the
block equation:

For the cylinder, the only torque about its axis is that due to the cable g mg
T = mg - may = mg - m a b =
tension T. Hence Eq. (10.7) gives 1 + M>2m 1 + 2m>M
gtz = RT = Iaz = 12 MR2az Continued
308    CHAPTER 10 Dynamics of Rotational Motion

Figure 10.10 (a) Our diagram of the situation. (b) Our free-body EVALUATE The acceleration is positive (in the downward direction) and
diagrams for the cylinder and the block. We assume the cable has less than g, as it should be, since the cable is holding back the block.
­negligible mass. The cable tension is not equal to the block’s weight mg; if it were, the
(a) (b) block could not accelerate.
Let’s check some particular cases. When M is much larger than m,
the tension is nearly equal to mg and the acceleration is correspond-
ingly much less than g. When M is zero, T = 0 and ay = g ; the ob-
ject falls freely. If the object starts from rest 1v0y = 02 a height h
above the floor, its y-velocity when it strikes the floor is given by
vy 2 = v0y 2 + 2ay h = 2ay h, so

2gh
vy = 22ay h =
B 1 + M>2m

We found this result from energy considerations in Example 9.8.

KEYCONCEPT When an object is connected to a string that wraps
around a rotating pulley of radius R, the linear acceleration ay of
the object is related to the angular acceleration az of the pulley by
ay = Raz.

m1 T1 TEST YOUR UNDERSTANDING OF SECTION 10.2 The figure shows a glider of mass m1 that
I
can slide without friction on a horizontal air track. It is attached to an object of mass m2 by a mass-
R less string. The pulley has radius R and moment of inertia I about its axis of rotation. When released,
the hanging object accelerates downward, the glider accelerates to the right, and the string turns the
T2 pulley without slipping or stretching. Rank the magnitudes of the following forces that act during
the motion, in order from largest to smallest magnitude. (i) The tension force (magnitude T1) in the
m2 horizontal part of the string; (ii) the tension force (magnitude T2) in the vertical part of the string;
(iii) the weight m2 g of the hanging object.
clockwise, T2 must be greater than T1 . Hence m2 g 7 T2 7 T1 .
ANSWER
R, so there is a clockwise torque T2 R and a counterclockwise torque T1R. For the net torque to be
Figure 10.11 The motion of a rigid body tension T1 tends to rotate the pulley counterclockwise. Both tension forces have the same lever arm
is a combination of translational motion of net torque on the pulley must be clockwise. Tension T2 tends to rotate the pulley clockwise, while
the center of mass and rotation around the nitude T2 of the upward tension force. For the pulley to have a clockwise angular acceleration, the
center of mass. downward. Hence the magnitude m2 g of the downward weight force must be greater than the mag-
❙ (iii), (ii), (i) For the hanging object of mass m2 to accelerate downward, the net force on it must be

10.3 RIGID-BODY ROTATION ABOUT A MOVING AXIS

We can extend our analysis of rigid-body rotational dynamics to some cases in which
the axis of rotation moves. When that happens, the motion of the rigid body is combined
translation and rotation. The key to understanding such situations is this: Every possible
motion of a rigid body can be represented as a combination of translational motion of the
The motion of this tossed baton can be
represented as a combination of ...
center of mass and rotation about an axis through the center of mass. This is true even
when the center of mass accelerates, so it is not at rest in any inertial frame. Figure 10.11
... translation of ... plus rotation about illustrates this for the motion of a tossed baton: The center of mass of the baton follows a
the center of mass ... the center of mass. parabolic curve, as though the baton were a particle located at the center of mass. A roll-
ing ball is another example of combined translational and rotational motions.

Combined Translation and Rotation: Energy Relationships

+ It’s beyond our scope to prove that rigid-body motion can always be divided into transla-
tion of the center of mass and rotation about the center of mass. But we can prove this for
the kinetic energy K of a rigid body that has both translational and rotational motions. For
such a rigid body, K is the sum of two parts:
 10.3 Rigid-Body Rotation About a Moving Axis     309

Kinetic energy of translation Kinetic energy of rotation

of center of mass (cm) around axis through cm
Kinetic energy of a
rigid body with both K = 12 Mvcm2 + 12 Icmv2 (10.8)
Angular speed
translation and rotation
Moment of inertia of rigid body
Mass of rigid body of rigid body about
Speed of cm axis through cm

To prove this relationship, we again imagine the rigid body to be made up of particles. Figure 10.12 A rigid body with both
S
For a typical particle with mass mi (Fig. 10.12), the velocity vi of this particle relative to translational and rotational motions.
S
an inertial frame is the vector sum of the velocity vcm of the center of mass and the veloc- Axis of rotation
ity vi = of the particle relative to the center of mass:
S
v
S S S =
vi ∙ vcm ∙ vi (10.9)

The kinetic energy Ki of this particle in the inertial frame is 12 mi vi 2, which we can also S
vcm
cm
express as 12 mi1vi ~ vi2. Substituting Eq. (10.9) into this, we get
S S

Ki = 12 mi 1vcm ∙ vi =2 ~ 1vcm ∙ vi =2
S S S S
ri S
vi′ S
vcm
1 S S S S = S = S =
= 2 mi 1vcm ~ vcm + 2vcm ~ vi + vi ~ vi 2 mi S
vi
1 2 S S = =2
= 2 mi 1vcm + 2vcm ~ vi + vi 2

The total kinetic energy is the sum g Ki for all the particles making up the rigid body.
S
Velocity vi of particle in rotating, translating
S
rigid body = (velocity vcm of center of mass) +
S
Expressing the three terms in this equation as separate sums, we get (particle’s velocity vi′ relative to center of mass)

K = g Ki = g 1 12 mi vcm2 2 + g 1mi vcm ~ vi =2 + g 1 12 mi vi =2 2

S S

The first and second terms have common factors that we take outside the sum:

K = 12 1g mi2vcm2 + vcm ~ 1g mi vi =2 + g 1 12 mi vi =2 2
S S
(10.10)

Now comes the reward for our effort. In the first term, g mi is the total mass M. The
second term is zero because g mi vi = is M times the velocity of the center of mass rela-
S

tive to the center of mass, and this is zero by definition. The last term is the sum of the
kinetic energies of the particles computed by using their speeds with respect to the cen- BIO APPLICATION Combined
Translation and Rotation A maple seed
ter of mass; this is just the kinetic energy of rotation around the center of mass. Using
consists of a pod attached to a much lighter,
the same steps that led to Eq. (9.17) for the rotational kinetic energy of a rigid body, we flattened wing. Airflow around the wing slows
can write this last term as 12 Icm v2, where Icm is the moment of inertia with respect to the falling seed to about 1 m>s and causes
the axis through the center of mass and v is the angular speed. So Eq. (10.10) becomes the seed to rotate about its center of mass.
Eq. (10.8): The seed’s slow fall means that a breeze can
carry the seed some distance from the par-
K = 12 Mvcm2 + 12 Icm v2 ent tree. In the absence of wind, the seed’s
center of mass falls straight down.

Rolling Without Slipping

An important case of combined translation and rotation is rolling without slipping. The
rolling wheel in Fig. 10.13 (next page) is symmetrical, so its center of mass is at its geo-
metric center. We view the motion in an inertial frame of reference in which the surface Maple
seed
on which the wheel rolls is at rest. In this frame, the point on the wheel that contacts the
surface must be instantaneously at rest so that it does not slip. Hence the velocity v1= of
S

the point of contact relative to the center of mass must have the same magnitude but oppo-
S
site direction as the center-of-mass velocity vcm . If the wheel’s radius is R and its angular Maple seed
falling
speed about the center of mass is v, then the magnitude of v1= is Rv; hence
S

Condition for rolling without slipping:

Speed of center of mass Radius of wheel
vcm = Rv (10.11)
of rolling wheel Angular speed of wheel
310    CHAPTER 10 Dynamics of Rotational Motion

Figure 10.13 The motion of a rolling wheel is the sum of the translational motion of the center of
mass and the rotational motion of the wheel around the center of mass.
Rotation around center of mass:
Translation of center of mass: for rolling without slipping,
S
velocity vcm speed at rim = vcm Combined motion
S S S S
3
S
vcm v3′ = vcm v3 = 2vcm
S
v2
S
v2′ v

+
S S S S

=
vcm vcm vcm 45° vcm
2 0
4 S
v4′ 45°
S
v4
S S S S
1 vcm v1′ = −vcm v1 = 0
Wheel is instantaneously at rest
where it contacts the ground.

As Fig. 10.13 shows, the velocity of a point on the wheel is the vector sum of the veloc-
ity of the center of mass and the velocity of the point relative to the center of mass. Thus
while point 1, the point of contact, is instantaneously at rest, point 3 at the top of the wheel
is moving forward twice as fast as the center of mass, and points 2 and 4 at the sides have
velocities at 45° to the horizontal.
At any instant we can think of the wheel as rotating about an “instantaneous axis” of
rotation that passes through the point of contact with the ground. The angular velocity v
is the same for this axis as for an axis through the center of mass; an observer at the center
of mass sees the rim make the same number of revolutions per second as does an observer
at the rim watching the center of mass spin around him. If we think of the motion of the
Figure 10.14 The smoke rising from rolling wheel in Fig. 10.13 in this way, the kinetic energy of the wheel is K = 12 I1 v2,
this drag racer’s rear tires shows that the where I1 is the moment of inertia of the wheel about an axis through point 1. But by the
tires are slipping on the road, so vcm is not parallel-axis theorem, Eq. (9.19), I1 = Icm + MR2, where M is the total mass of the wheel
equal to Rv. and Icm is the moment of inertia with respect to an axis through the center of mass. Using
Eq. (10.11), we find that the wheel’s kinetic energy is as given by Eq. (10.8):

K = 12 I1 v2 = 12 Icm v2 + 12 MR2v2 = 12 Icm v2 + 12 Mvcm2

   CAUTION    Rolling without slipping The relationship vcm = Rv holds only if there is rolling with-
out slipping. When a drag racer first starts to move, the rear tires are spinning very fast even though
the racer is hardly moving, so Rv is greater than vcm (Fig. 10.14). If a driver applies the brakes too
heavily so that the car skids, the tires will spin hardly at all and Rv is less than vcm . ❙

If a rigid body changes height as it moves, we must also consider gravitational potential
energy. We saw in Section 9.4 that for any extended object of mass M, rigid or not, the
gravitational potential energy U is the same as if we replaced the object by a particle of
mass M located at the object’s center of mass, so
U = Mgycm

EXAMPLE 10.4 Speed of a primitive yo-yo

A primitive yo-yo has a massless string wrapped around a solid ­cylinder energy is lost. Hence we can use conservation of mechanical energy. The
with mass M and radius R (Fig. 10.15). You hold the free end of the initial kinetic energy of the cylinder is K1 = 0, and its final kinetic energy
string stationary and release the cylinder from rest. The string unwinds K2 is given by Eq. (10.8); the massless string has no kinetic energy. The
but does not slip or stretch as the cylinder ­descends and rotates. Using moment of inertia is Icm = 12 MR2, and by Eq. (9.13) v = vcm>R because
energy considerations, find the speed vcm of the cylinder’s center of the string doesn’t slip. The potential energies are U1 = Mgh and U2 = 0.
mass after it has descended a distance h.
EXECUTE From Eq. (10.8), the kinetic energy at point 2 is
IDENTIFY and SET UP Since you hold the upper end of the string fixed,
your hand does no work on the string–cylinder system. There is friction be- vcm 2 3
K2 = 12 Mvcm2 + 1
2 1 12 MR2 2 a b = 4 Mvcm2
tween the string and the cylinder, but the string doesn’t slip so no mechanical R
 10.3 Rigid-Body Rotation About a Moving Axis     311

Figure 10.15 Calculating the speed of a primitive yo-yo. 1 12 Mvcm2 2

is translational and one-third 1 14 Mvcm2 2 is rotational. Using
conservation of energy,

R K1 + U1 = K2 + U2
vcm = 0 0 + Mgh = 34 Mvcm2 + 0
1 M v = 0 vcm = 243 gh

h EVALUATE No mechanical energy was lost or gained, so from the energy

v standpoint the string is merely a way to convert some of the gravitational
potential energy (which is released as the cylinder falls) into rotational
2 kinetic energy rather than translational kinetic energy. Because not all
of the released energy goes into translation, vcm is less than the speed
vcm 12gh of an object dropped from height h with no strings attached.
KEYCONCEPT If a rigid body is both translating (moving as a
whole through space) and rotating, its total kinetic energy is the sum
The kinetic energy is 1 12 times what it would be if the yo-yo were fall- of the kinetic energy of translation of the center of mass and the kinetic
ing at speed vcm without rotating. Two-thirds of the total kinetic energy energy of rotation around an axis through the center of mass.

EXAMPLE 10.5 Race of the rolling bodies

In a physics demonstration, an instructor “races” various rigid bodies EXECUTE From conservation of energy,
that roll without slipping from rest down an inclined plane (Fig. 10.16).
What shape should a body have to reach the bottom of the incline first? K1 + U1 = K2 + U2

IDENTIFY and SET UP Kinetic friction does no work if the bodies roll vcm 2
0 + Mgh = 12 Mvcm2 + 12 cMR2 a b + 0
without slipping. We can also ignore the effects of rolling friction, intro- R
duced in Section 5.3, if the bodies and the surface of the incline are rigid. Mgh = 12 11 + c2Mvcm2
(Later in this section we’ll explain why this is so.) We can therefore use
conservation of energy. Each body starts from rest at the top of an incline 2gh
vcm =
with height h, so K1 = 0, U1 = Mgh, and U2 = 0. Equation (10.8) gives A1 + c
the kinetic energy at the bottom of the incline; since the bodies roll with-
out slipping, v = vcm>R. We can express the moments of inertia of the EVALUATE For a given value of c, the speed vcm after descending a
four round bodies in Table 9.2, cases (f)–(i), as Icm = cMR2, where c is a distance h is independent of the body’s mass M and radius R. Hence
number less than or equal to 1 that depends on the shape of the body, Our all uniform solid cylinders 1 c = 12 2 have the same speed at the bot-
goal is to find the value of c that gives the body the greatest speed vcm tom, regardless of their mass and radii. The values of c tell us that the
after its center of mass has descended a vertical distance h. order of finish for uniform bodies will be as follows: (1) any solid
sphere 1 c = 25 2 , (2) any solid cylinder 1 c = 12 2 , (3) any thin-walled,
Figure 10.16 Which body rolls down the incline fastest, and why? hollow sphere 1 c = 23 2 , and (4) any thin-walled, hollow cylinder
1c = 12. Small-c bodies always beat large-c bodies because less of
their kinetic energy is tied up in rotation, so more is available for
translation.
h
KEYCONCEPT For a rigid body that rolls without slipping, has
a given mass and radius, and moves with a given center-of-mass
speed, the kinetic energy of rotation depends on the shape of the
rigid body.

Combined Translation and Rotation: Dynamics

We can also analyze the combined translational and rotational motions of a rigid body
from the standpoint of dynamics. We showed in Section 8.5 that for an extended object,
the acceleration of the center of mass is the same as that of a particle of the same mass
acted on by all the external forces on the actual object:

a Fext = Macm
Total mass of object
Net external S S
force on an object Acceleration of (10.12)
center of mass
312    CHAPTER 10 Dynamics of Rotational Motion

The rotational motion about the center of mass is described by the rotational analog of
Newton’s second law, Eq. (10.7):

Moment of inertia of

a tz = Icmaz
Net torque on a rigid rigid body about z-axis
body about z-axis (10.13)
Angular acceleration of
through center of mass
Figure 10.17 The axle of a bicycle wheel rigid body about z-axis
passes through the wheel’s center of
mass and is an axis of symmetry. Hence

rigid body; after all, our derivation of g tz = Iaz in Section 10.2 assumed that the axis
the rotation of the wheel is described by It’s not immediately obvious that Eq. (10.13) should apply to the motion of a translating
Eq. (10.13), provided the bicycle doesn’t
turn or tilt to one side (which would of rotation was stationary. But Eq. (10.13) is valid even when the axis of rotation moves,
change the orientation of the axle). provided the following two conditions are met:
1. The axis through the center of mass must be an axis of symmetry.
2. The axis must not change direction.
These conditions are satisfied for many types of rotation (Fig. 10.17). Note that in general
this moving axis of rotation is not at rest in an inertial frame of reference.
We can now solve dynamics problems involving a rigid body that undergoes transla-
tional and rotational motions at the same time, provided that the rotation axis satisfies the
two conditions just mentioned. Problem-Solving Strategy 10.1 (Section 10.2) is equally
useful here, and you should review it now. Keep in mind that when a rigid body undergoes
translational and rotational motions at the same time, we need two separate equations
of motion for the same/body: Eq. (10.12) for the translation of the center of mass and
Eq. (10.13) for rotation about an axis through the center of mass.

EXAMPLE 10.6 Acceleration of a primitive yo-yo WITH ARIATION PROBLEMS

For the primitive yo-yo in Example 10.4 (Fig. 10.18a), find the Figure 10.18 Dynamics of a primitive yo-yo (see Fig. 10.15).
­downward acceleration of the cylinder and the tension in the string. (a) (b)
IDENTIFY and SET UP Figure 10.18b shows our free-body dia-
gram for the yo-yo, including our choice of positive coordinate di-
R
rections. Our target variables are acm@y and T. We’ll use Eq. (10.12)
for the ­translational motion of the center of mass and Eq. (10.13) vcm = 0
for the rotational motion around the center of mass. We’ll also use M v = 0
Eq. (10.11), which says that the string unwinds without slipping. As in
Example 10.4, the m ­ oment of inertia of the yo-yo for an axis through
its center of mass is Icm = 12 MR2.
v
EXECUTE From Eq. (10.12),

gFy = Mg + 1- T2 = Macm@y(10.14) acm

vcm
From Eq. (10.13),

gtz = TR = Icm az = 12 MR2az(10.15)

From Eq. (10.11), vcm@z = Rvz; the derivative of this expression with
respect to time gives us EVALUATE The string slows the fall of the yo-yo, but not enough to stop
it completely. Hence acm@y is less than the free-fall value g and T is less
acm@y = Raz(10.16) than the yo-yo weight Mg.

We now use Eq. (10.16) to eliminate az from Eq. (10.15) and then solve KEYCONCEPT To analyze the motion of a rigid body that is both
Eqs. (10.14) and (10.15) simultaneously for T and acm@y : translating and rotating, use Newton’s second law for the translational
motion of the center of mass and the rotational analog of Newton’s sec-
acm@y = 23 g T = 13 Mg ond law for the rotation around the center of mass.
 10.3 Rigid-Body Rotation About a Moving Axis     313

EXAMPLE 10.7 Acceleration of a rolling sphere WITH ARIATION PROBLEMS

EXECUTE The ball’s moment of inertia is Icm = 5 MR2. The equations

2
A bowling ball of mass M rolls without slipping down a ramp
that is inclined at an angle b to the horizontal (Fig. 10.19a). What of motion are
are the ball’s acceleration and the magnitude of the friction force gFx = Mg sin b + 1-f 2 = Macm@x(10.17)
gtz = f R = Icm az =
on the ball? Treat the ball as a uniform solid sphere, ignoring the
finger holes. 1 25 MR2 2 az (10.18)

IDENTIFY and SET UP The free-body diagram (Fig. 10.19b) shows The ball rolls without slipping, so as in Example 10.6 we use
that only the friction force exerts a torque about the center of mass. acm@x = Raz to eliminate az from Eq. (10.18):
Our target variables are the acceleration acm@x of the ball’s center of
mass and the magnitude f of the friction force. (Because the ball does f R = 25 MRacm@x
not slip at the instantaneous point of contact with the ramp, this is a This equation and Eq. (10.17) are two equations for the unknowns acm@x
static friction force; it prevents slipping and gives the ball its angular and f. We solve Eq. (10.17) for f, substitute that expression into the
acceleration.) We use Eqs. (10.12) and (10.13) as in Example 10.6. above equation to eliminate f, and solve for acm@x:

acm@x = 57 g sin b

Figure 10.19 A bowling ball rolling down a ramp. Finally, we substitute this acceleration into Eq. (10.17) and solve for f :

(a) (b) y f = 27 Mg sin b

+
n 5
EVALUATE The ball’s acceleration is just 7 as large as that of an object
acm-x = Raz sliding down the slope without friction. If the ball descends a vertical
distance h as it rolls down the ramp, its displacement along the ramp is
h>sin b. You can show that the speed of the ball at the bottom of the ramp
M
Mg sin b is vcm = 210 7 gh, the same as our result from Example 10.5 with c = 5 .
2
R
If the ball were rolling uphill without slipping, the force of friction
x would still be directed uphill as in Fig. 10.19b. Can you see why?
b b f
KEYCONCEPT If an object is rolling without slipping on an incline,
Mg Mg cos b a friction force must act on it. The direction of this friction force is al-
ways such as to prevent slipping.

Rolling Friction
In Example 10.5 we said that we can ignore rolling friction if both the rolling body and
the surface over which it rolls are perfectly rigid. In Fig. 10.20a a perfectly rigid sphere
is rolling down a perfectly rigid incline. The line of action of the normal force passes
through the center of the sphere, so its torque is zero; there is no sliding at the point of
contact, so the friction force does no work. Figure 10.20b shows a more realistic situation,
in which the surface “piles up” in front of the sphere and the sphere rides in a shallow
trench. Because of these deformations, the contact forces on the sphere no longer act along
a single point but over an area; the forces are concentrated on the front of the sphere as
shown. As a result, the normal force now exerts a torque that opposes the rotation. In ad-
dition, there is some sliding of the sphere over the surface due to the deformation, causing

(a) Perfectly rigid sphere rolling on a perfectly (b) Rigid sphere rolling on a deformable Figure 10.20 Rolling down (a) a perfectly
rigid surface surface rigid surface and (b) a deformable surface.
y y In (b) the deformation is greatly exagger-
v v ated, and the force n is the component of
the contact force that points normal to the
plane of the surface before it is deformed.

n
Mg
n
Mg f
f x x

Normal force
Normal force produces
produces a torque about
no torque about the center
the center of the sphere that
of the sphere.
opposes rotation.
314    CHAPTER 10 Dynamics of Rotational Motion

mechanical energy to be lost. The combination of these two effects is the phenomenon
BIO APPLICATION Rolling for of rolling friction. Rolling friction also occurs if the rolling body is deformable, such as
Reproduction One of the few organisms an automobile tire. Often the rolling body and the surface are rigid enough that rolling
that uses rolling as a means of ­locomotion
­friction can be ignored, as we have assumed in all the examples in this section.
is the weed called Russian thistle (Kali
­tragus). The plant breaks off at its base,
forming a rounded tumbleweed that TEST YOUR UNDERSTANDING OF SECTION 10.3 Suppose the solid cylinder used as a
­disperses its seeds as it rolls. Because yo-yo in Example 10.6 is replaced by a hollow cylinder of the same mass and radius. (a) Will the
a tumbleweed deforms easily, it is subject acceleration of the yo-yo (i) increase, (ii) decrease, or (iii) remain the same? (b) Will the string
to substantial rolling friction. Hence it ­tension (i) increase, (ii) decrease, or (iii) remain the same?
quickly slows to a stop unless propelled
by the wind.
ANSWER
force is needed to oppose the downward force of gravity.
and hence will roll downward more slowly. To slow the downward motion, a greater upward tension
calculation. The greater moment of inertia means that the hollow cylinder will rotate more slowly
celeration is less but the tension is greater. You can come to the same conclusion without doing the
acm@y = 21 g and T = 21 Mg (instead of acm@y = 32 g and T = 31 Mg for a solid cylinder). Hence the ac-
of inertia Icm = MR2) instead of a solid cylinder (moment of inertia Icm = 21 MR2), you’ll find
❙ (a) (ii), (b) (i) If you redo the calculation of Example 10.6 with a hollow cylinder (moment

10.4 WORK AND POWER IN ROTATIONAL MOTION

When you pedal a bicycle, you apply forces to a rotating body and do work on it. Similar
things happen in many other real-life situations, such as a rotating motor shaft driving a
power tool or a car engine propelling the vehicle. Let’s see how to apply our ideas about
work from Chapter 6 to rotational
S
motion.
Suppose a tangential force Ftan acts at the rim of a pivoted disk—for example, a child
running while pushing on a playground merry-go-round (Fig. 10.21a). The disk rotates
through an infinitesimal angle du about a fixed axis
S
during an infinitesimal time interval
dt (Fig. 10.21b). The work dW done by the force Ftan while a point on the rim moves a dis-
tance ds is dW = Ftan ds. If du is measured in radians, then ds = R du and

dW = Ftan R du
S
Figure 10.21 A tangential force applied Now Ftan R is the torque tz due to the force Ftan , so
to a rotating body does work.
(a) dW = tz du (10.19)

Child applies As the disk rotates from u1 to u2, the total work done by the torque is
tangential force.
Upper limit = final angular position
S Work done by u2

Lu1
Ftan a torque Tz Integral of the torque
W = tz du with respect to angle
(10.20)

Lower limit = initial angular position

(b) Overhead view of merry-go-round If the torque remains constant while the angle changes, then the work is the product of
ds torque and angular displacement:
du
S
R R Work done by a Torque
Ftan
constant torque Tz W = tz1u2 - u12 = tz ∆u (10.21)

O Final minus initial angular position = angular displacement

If torque is expressed in newton-meters 1N # m2 and angular displacement in radians,

Eq. (10.20) is the analog of Eq. (6.7), W = 1 Fx dx, for the work done by a force in a
the work is in joules. Equation (10.21) is the rotational analog of Eq. (6.1), W = Fs, and

straight-line displacement.
If the force in Fig. 10.21 had an axial component (parallel to the rotation axis) or a
radial component (directed toward or away from the axis), that component would do no
 10.4 Work and Power in Rotational Motion     315

work because the displacement of the point of application has only a tangential compo-
nent. An axial or radial component of force would also make no contribution to the torque
about the axis of rotation. So Eqs. (10.20) and (10.21) are correct for any force, no matter
what its components.
When a torque does work on a rotating rigid body, the kinetic energy changes by an Figure 10.22 The rotational kinetic en-
amount equal to the work done. We can prove this by using exactly the same procedure ergy of a helicopter’s main rotor is equal
that we used in Eqs. (6.11) through (6.13) for the translational kinetic energy of a particle. to the total work done to set it spinning.
When it is spinning at a constant rate,
Let tz represent the net torque on the body so that tz = Iaz from Eq. (10.7), and assume positive work is done on the rotor by the
that the body is rigid so that the moment of inertia I is constant. We then transform the engine and negative work is done on it
integrand in Eq. (10.20) into an integrand with respect to vz as follows: by air resistance. Hence the net work
being done is zero and the kinetic energy
dvz du ­remains constant.
tz du = 1Iaz2 du = I du = I dv = Ivz dvz
dt dt z
Since tz is the net torque, the integral in Eq. (10.20) is the total work done on the rotating
rigid body. This equation then becomes

Total work done on Final rotational kinetic energy

v2

Lv1
a rotating rigid body
= work done by the Wtot = Ivz dvz = 12 Iv22 - 12 Iv12 (10.22)
net external torque Initial rotational kinetic energy

The change in the rotational kinetic energy of a rigid body equals the work done by forces
exerted from outside the body (Fig. 10.22). This equation is analogous to Eq. (6.13), the
work–energy theorem for a particle.
How does power relate to torque? When we divide both sides of Eq. (10.19) by the time
interval dt during which the angular displacement occurs, we find

dW du
= tz
dt dt
But dW>dt is the rate of doing work, or power P, and du>dt is angular velocity vz :

Torque with respect to

Power due to a torque rigid body’s rotation axis
acting on a rigid body P = tz vz (10.23)
Angular velocity of
rigid body about axis

S S
This is the analog of the relationship P = F ~ v that we developed in Section 6.4 for
­particle motion.

EXAMPLE 10.8 Calculating power from torque

An electric motor exerts a constant 10 N # m torque on a grindstone, ∆u = 12 az t 2 = 12 15.0 rad>s2218.0 s2 2 = 160 rad
which has a moment of inertia of 2.0 kg # m2 about its shaft. The system
starts from rest. Find the work W done by the motor in 8.0 s and the W = tz ∆u = 110 N # m21160 rad2 = 1600 J
grindstone’s kinetic energy K at this time. What average power Pav is
delivered by the motor? From Eqs. (9.7) and (9.17),

IDENTIFY and SET UP The only torque acting is that due to the motor. vz = az t = 15.0 rad>s2218.0 s2 = 40 rad>s
Since this torque is constant, the grindstone’s angular acceleration az
is constant. We’ll use Eq. (10.7) to find az, and then use this in the ki- K = 12 Ivz 2 = 12 12.0 kg # m22140 rad>s2 2 = 1600 J
nematics equations from Section 9.2 to calculate the angle ∆u through
which the grindstone rotates in 8.0 s and its final angular velocity vz. The average power is the work done divided by the time interval:
From these we’ll calculate W, K, and Pav.
EXECUTE We have gtz = 10 N m and I = 2.0 kg m2, so gtz = Iaz
1600 J
# # Pav =
8.0 s
= 200 J>s = 200 W
yields az = 5.0 rad>s2. From Eqs. (9.11) and (10.21),
Continued
316    CHAPTER 10 Dynamics of Rotational Motion

EVALUATE The initial kinetic energy was zero, so the work done W uniformly with time, so the average power is just half this maximum
must equal the final kinetic energy K [Eq. (10.22)]. This is just as we value, or 200 W.
calculated. We can check our result Pav = 200 W by considering the
instantaneous power P = tz vz . Because vz increases continuously, P KEYCONCEPT If a torque acts on a rigid body, the work done
increases continuously as well; its value increases from zero at t = 0 equals torque times angular displacement and the power equals torque
to 110 N # m2140 rad>s2 = 400 W at t = 8.0 s. Both vz and P increase times angular velocity.

TEST YOUR UNDERSTANDING OF SECTION 10.4 You apply equal torques to two different
cylinders. Cylinder 1 has a moment of inertia twice as large as cylinder 2. Each cylinder is initially
at rest. After one complete rotation, which cylinder has the greater kinetic energy? (i) Cylinder 1;
(ii) cylinder 2; (iii) both cylinders have the same kinetic energy.

ANSWER
isn’t what we are asked. Compare Conceptual Example 6.5 in Section 6.2.)
to both. (The one with the smaller moment of inertia ends up with a greater angular speed, but that
Eq. (10.21), you do the same amount of work to both cylinders and impart the same kinetic energy
❙ (iii) You apply the same torque over the same angular displacement to both cylinders. Hence, by

10.5 ANGULAR MOMENTUM

Every rotational quantity that we have encountered in Chapters 9 and 10 is the analog
of some quantity in the translational motion of a particle. The analog
S
of momentum of a
particle is angular momentum, a vector quantity denoted as L. Its relationship to mo-
S
mentum p (which we’ll often call linear Smomentum for clarity) is exactly the same as the
S S
relationship of torque to force, T ∙ r : F. For a particle with constant mass m and veloc-
S
ity v, the angular momentum is

Angular momentum of Position vector of particle relative to O

a particle relative to S S S S S
origin O of an inertial L = r : p = r : mv (10.24)
frame of reference Linear momentum of particle = mass times velocity

S
The value of L depends on the choice of origin O, since it involves the particle’s position
vector r relative to O. The units of angular momentum are kg # m2>s.
S

S
Figure 10.23
S
Calculating the angular In Fig. 10.23 a particle moves in the xy-plane; itsS position vector r and momentum
S S S S S S
momentum L ∙ r : mv ∙ r : p of p ∙ mv are shown. The angular momentum vector L is perpendicular to the xy-plane.
a particle with mass m moving in the The right-hand rule for vector products shows that its direction is along the +z@axis, and
xy-plane.
its magnitude is
y
S
p = mv
S L = mvr sin f = mvl (10.25)

f S
mv sin f where l is the perpendicular distance from the line of v to O. This distance plays the role
m of “lever arm” for theS momentum vector.
When a net force F acts on a particle, its velocity and momentum change, so its angular
S
r
f momentum may also change. We can show that the rate of change of angular momentum
is equal to the torque of the net force. We take the time derivative of Eq. (10.24), using the
O l = r sin f x rule for the derivative of a product:
S
S
L = angular momentum of particle S S
dL dr S S dv S S S S
S
L is perpendicular to the plane of ∙a : mv b ∙ a r : m b ∙ 1v : mv2 ∙ 1r : ma2
dt dt dt
z motion (if the origin O is in that plane)
S S
and has magnitude L = mvl. The first term is zero because it contains the vector product
S
of the vector v ∙ d r >dt with
S
itself. In the second term we replace ma with the net force F:
S
dL S S S S
∙ r : F ∙ T (for a particle acted on by net force F) (10.26)
dt
The rate of change of angular momentum of a particle equals the torque of the net
S
force acting on it. Compare this result to Eq. (8.4): The rate of change d p>dt of the linear
momentum of a particle equals the net force that acts on it.
 10.5 Angular Momentum    317

Angular Momentum of a Rigid Body Figure 10.24 Calculating the angular

momentum of a particle of mass mi in a
We can use Eq. (10.25) to find the total angular momentum of a rigid body rotating rigid body rotating at angular speed v.
about the z-axis with angular speed v. First consider a thin slice of the body lying in the (Compare Fig. 10.23.)
xy-plane (Fig. 10.24). Each particle in the slice moves in a circle centered at the origin, Slice of y
S S
and at each instant its velocity vi is perpendicular to its position vector ri , as shown. rigid body v
Hence in Eq. (10.25), f = 90° for every particle. A particle with mass mi at a distance rotating
about z-axis
ri from O has a speed vi equal to riv. From Eq. (10.25) the magnitude L i of its angular vi = ri v
momentum is mi

L i = mi 1ri v2 ri = mi ri 2v (10.27) ri

The direction of each particle’s angular momentum, as given by the right-hand rule for the O x
vector product, is along the +z@axis.

the sum g L i of the angular momenta L i of all of its particles. From Eq. (10.27),
S
The total angular momentum of the slice of the rigid body that lies in the xy-plane is Li = angular momentum of ith
particle of rigid body

L = g L i = 1 g mi ri 2 2v = Iv
z LS is perpendicular to the plane of motion
i
(if the origin O is in that plane) and has
magnitude Li = mi vi ri = mi ri2v.

where I is the moment of inertia of the slice about the z-axis.

Figure 10.25 Two particles of the same
We can do this same calculation for the other slices of the rigid body, all parallel to the mass located symmetrically on either side
S
xy-plane. For points that do not lie in the xy-plane, a complication arises because the r of the rotation axis of a rigid body.SThe an-
S
vectors have components in the z-direction as well as in the x- and y-directions; this gives gular momentum vectors L1 and L2 of the
the angular momentum of each particle a component perpendicular to the z-axis. But if two particles do not lie along
S
theSrotation
the z-axis is an axis of symmetry, the perpendicular components for particles on opposite axis, but their vector sum L1 ∙ L2 does.
sides of this axis add up to zero (Fig. 10.25).S So when a rigid body rotates about an axis z
v
of symmetry, its angular momentum vector L lies along the symmetry axis, and its mag-
nitude is L = Iv. Another slice of a
S
The angular velocity vector V also lies along the rotation axis,S as we saw in Section 9.1. rigid body rotating
S S
S about the z-axis L1 + L2 is along
Hence for a rigid body rotating around an axis of symmetry, L and V are in the same (viewed edge-on) the rotation axis.
­direction (Fig. 10.26). So we have the vector relationship S S
L1 L2 m2 = m1
m1
Angular momentum of Moment of inertia of rigid
S S
a rigid body rotating L = IV body about symmetry axis (10.28) This particle This particle
around a symmetry axis Angular velocity vector of rigid body of the body of the body is
S S
is moving r1 r2 moving away
toward you. from you.
From Eq. (10.26) the rate of change of angular momentum of a particle equals the x
O
torque of the net force acting on the particle. For any system of particles (including both
rigid and nonrigid bodies), the rate of change of the total angular momentum equals the
sum of the torques of all forces acting on all the particles. The torques of the internal Figure 10.26 For rotation
S
about an axis
S
forces add to zero if these forces act along the line from one particle to another, as in of symmetry, V and L are parallel and
along the axis. The directions of both
Fig. 10.8, and so the sum of the torques includes only the torques of the external forces. ­vectors are given by the right-hand rule
(We saw a similar cancellation in our discussion of center-of-mass motion in Section 8.5.) (compare Fig. 9.5).
So we conclude that
If you curl the
fingers of your

a T = dt
For a system of particles: S
Rate of change of total right hand in
Sum of external torques
dL
S angular momentum L
S

(10.29) the direction

on the system of system of rotation ...
S
S L
V ... your right thumb
Finally, if the system of particles is a rigid body rotating about a symmetry axis points in the direction
(the z-axis), then
S
L z = Ivz and I is constant. If this axis has a fixed direction in space, S
of V. If the rotation axis
S
then vectors L and V change only in magnitude, not in direction. In that case, is an axis of symmetry,
thisSis also the direction S
dL z >dt = I dvz >dt = Iaz , or

g tz = Iaz
of L . V
S
L
318    CHAPTER 10 Dynamics of Rotational Motion

Figure 10.27 If the rotation axis

S
of a rigid which is again our basic relationship for the dynamics of rigid-body rotation. If the body
body is not a symmetry axis, L does not in is not rigid, I may change; in that case, L changes even when v is constant. For a nonrigid
general lie along the rotation axis. Even if
S S body, Eq. (10.29) is still valid, even though Eq. (10.7) is not.
V is constant, the direction of L changes and
a net torque is required to maintain rotation. When the axis of rotation is not a symmetry axis, the angular momentum is in general
not parallel to the axis (Fig. 10.27). As the rigid body rotates,S the angular momentum
Irregularly shaped rigid body S

y vector L traces out a cone around the rotation axis. Because L changes, there must be
a net external torque acting on the body even though the angular velocity magnitude
v v may be constant. If the body is an unbalanced wheel on a car, this torque is pro-
vided by friction in the bearings, which causes the bearings to wear out. “Balancing”
x
a wheel means
S
distributing the mass so that the rotation axis is an axis of symme-
S try; then L points along the rotation axis, and no net torque is required to keep the
L
wheel turning.
L#
In fixed-axis rotation we often use the term “angular momentum of the body” to
Lz S
refer to only the component of L along the rotation axis of the body (the z-axis in
This rotation axis is not a Fig. 10.27), with a positive or negative sign to indicate the sense of rotation just as
z symmetry axis of the rigid body: with angular velocity.
S
L is not along the rotation axis.

EXAMPLE 10.9 Angular momentum and torque

A turbine fan in a jet engine has a moment of inertia of 2.5 kg # m2 (b) From Eq. (10.29),
about its axis of rotation. As the turbine starts up, its angular velocity is
dL z
given by vz = 140 rad>s32t 2. (a) Find the fan’s angular momentum as a tz = = 1100 kg # m2>s3212t2 = 1200 kg # m2>s32t
function of time, and find its value at t = 3.0 s. (b) Find the net torque dt
on the fan as a function of time, and find its value at t = 3.0 s. At t = 3.0 s,
IDENTIFY and SET UP The fan rotates about its axis of symmetry (the tz = 1200 kg # m2>s3213.0 s2
z-axis). Hence the angular momentum vector has only a z-component = 600 kg # m2>s2 = 600 N # m
L z, which we can determine from the angular velocity vz . Since the di-
rection of angular momentum is constant, the net torque likewise has EVALUATE As a check on our expression for tz, note that the angu-
only a component tz along the rotation axis. We’ll use Eq. (10.28) to lar acceleration of the turbine is az = dvz >dt = 140 rad>s3212t2 =
find L z from vz and then Eq. (10.29) to find tz. 180 rad>s32t. Hence from Eq. (10.7), the torque on the fan is
EXECUTE (a) From Eq. (10.28), tz = Iaz = 12.5 kg # m22180 rad>s32t = 1200 kg # m2>s32t, just as we
L z = Ivz = 12.5 kg # m22140 rad>s32t 2
calculated.

= 1100 kg # m2>s32t 2
KEYCONCEPT The angular momentum vector of a rotating
rigid body points along the rigid body’s rotation axis. The rate of
(We dropped the dimensionless quantity “rad” from the final expres- change of angular momentum equals the net external torque on the
sion.) At t = 3.0 s, L z = 900 kg # m2>s. rigid body.

TEST YOUR UNDERSTANDING OF SECTION 10.5 A ball is attached to one end of a piece
of string. You hold the other end of the string and whirl the ball in a circle around your hand. (a) If
S
the ball moves at a constant
S
speed, is its linear momentum p constant? Why or why not? (b) Is its
angular momentum L constant? Why or why not?

ANSWER
ball is directed toward your hand, so the vector product T ∙ r : F is zero.
S S
cause there is no net torque; the vector r points from your hand toS the ball and the force F on the
S S
force F on the ball (toward the center of the circle). The angular momentum remains constant be-
S
dicular to the plane of the ball’s motion). The linear momentum changes because there is a net
from your hand to the ball are constant) and a constant direction (along the rotation axis, perpen-
L ∙ r : p is constant: It has a constant magnitude (both the speed and the perpendicular distance
S S S
(the speed is constant) but its direction changes, so the linear momentum vector isn’t constant. But
❙ (a) no, (b) yes As the ball goes around the circle, the magnitude of p ∙ mv remains the same
S S
 10.6 Conservation of Angular Momentum    319

10.6 CONSERVATION OF ANGULAR MOMENTUM

We have just seen that angular momentum can be used for an alternative statement of
the basic dynamic principle for rotational motion. It also forms the basis for the prin- ?
ciple of conservation of angular momentum. Like conservation of energy and of linear
­momentum, this principle is a universal conservation law, valid at all scales from atomic

Eq. (10.29): g T ∙ dL>dt. If g T ∙ 0, then dL>dt ∙ 0, and L is constant.

and nuclear systemsS to the motions of galaxies.
S
This principle
S
follows directly from
S S

Figure 10.28 A falling cat twists differ-

CONSERVATION OF ANGULAR MOMENTUM When the net external torque ent parts of its body in different directions
so that it lands feet first. At all times dur-
acting on a system is zero, the total angular momentum of the system is constant ing this process the angular momentum of
(conserved). the cat as a whole remains zero.

A circus acrobat, a diver, and an ice skater pirouetting on one skate all take advantage of
this principle. Suppose an acrobat has just left a swing; she has her arms and legs extended
and is rotating counterclockwise about her center of mass. When she pulls her arms and legs
in, her moment of inertia Icm with respect to her center of mass changes from a large value
I1 to a much smaller value I2 . The only external force acting on her is her weight, which has
no torque with respect to an axis through her center of mass. So her angular momentum
L z = Icm vz remains constant, and her angular velocity vz increases as Icm decreases. That is,

I1 v1z = I2 v2z (zero net external torque) (10.30)

When a skater or ballerina spins with arms outstretched and then pulls her arms in, her
angular velocity increases as her moment of inertia decreases. In each case there is con-
servation of angular momentum in a system in which the net external torque is zero.
When a system has several parts, the internal forces that the parts exert on one an-
other cause changes in the angular momenta of the parts, but the total angular momentum
doesn’t change. Here’s an example. Consider two objects A and B that interact with each
other but not with anything else, such as the
S
astronauts we discussed in Section 8.2 (see
Fig. 8.9). Suppose object A exerts a force FA on B on object B; the corresponding torque
S
(with respect to whatever point we choose) is TA on B . According to Eq. (10.29), this torque
is equal to the rate of change of angular momentum of B:
S
S dLB
TA on B ∙
dt
S
At the same time, object B exerts a force FB on A on object A, with a corresponding torque
S
TB on A , and
S
S dLA
TB on A ∙
dt
S S
From Newton’s third law, FB on A ∙ ∙FA on B . Furthermore, if the forces act along the
same line, as in Fig. 10.8, their lever arms with respect to the chosen axis are equal. Thus
S S
the torques of these two forces are equal and opposite, and TB on A ∙ ∙TA on B . So if we
add the two preceding equations, we find
S S
dLA dLB
∙ ∙0
dt dt
S S S
or, because LA ∙ LB is the total angular momentum L of the system,
S
dL
∙ 0 (zero net external torque) (10.31)
dt
That is, the total angular momentum of the system is constant. The torques of the internal
forces can transfer angular momentum from one object to the other, but they can’t change
the total angular momentum of the system (Fig. 10.28).
320    CHAPTER 10 Dynamics of Rotational Motion

EXAMPLE 10.10 Anyone can be a ballerina

A physics professor stands at the center of a frictionless turntable with to Idumbbells , where r is the perpendicular distance from the axis to the
arms outstretched and a 5.0 kg dumbbell in each hand (Fig. 10.29). He dumbbell. Initially we have
is set rotating about the vertical axis, making one revolution in 2.0 s. I1 = 3.0 kg # m2 + 215.0 kg211.0 m2 2 = 13 kg # m2
Find his final angular velocity if he pulls the dumbbells inward to his
stomach. His moment of inertia (without the dumbbells) is 3.0 kg # m2 v1z =
1 rev
= 0.50 rev>s
with arms outstretched and 2.2 kg # m2 with his hands at his stomach. 2.0 s
The dumbbells are 1.0 m from the axis initially and 0.20 m at the end. The final moment of inertia is
IDENTIFY, SET UP, and EXECUTE No external torques act about the I2 = 2.2 kg # m2 + 215.0 kg210.20 m2 2 = 2.6 kg # m2
­z-axis, so L z is constant. We’ll use Eq. (10.30) to find the final angular
velocity v2z . The moment of inertia of the system is I =Iprof + Idumbbells . From Eq. (10.30), the final angular velocity is
We treat each dumbbell as a particle of mass m that contributes mr 2
I1 13 kg # m2
v2z = v1z = 10.50 rev>s2 = 2.5 rev>s = 5v1z
I2 2.6 kg # m2
Figure 10.29 Fun with conservation of angular momentum. Can you see why we didn’t have to change “revolutions” to “radians” in
this calculation?
EVALUATE The angular momentum remained constant, but the an-
gular velocity increased by a factor of 5, from v1z = 10.50 rev>s2 *
12p rad>rev2 = 3.14 rad>s to v2z = 12.5 rev>s212p rad>rev2 =
Dumbbell Dumbbell
15.7 rad>s. The initial and final kinetic energies are then
Professor K1 = 12 I1 v1z2 = 12 113 kg # m2213.14 rad>s2 2 = 64 J
(not a
dumbbell) K2 = 12 I2 v2z 2 = 12 12.6 kg # m22115.7 rad>s2 2 = 320 J
v1 The fivefold increase in kinetic energy came from the work that the
v2
professor did in pulling his arms and the dumbbells inward.
KEYCONCEPT If there is zero net external torque on a rigid body,
its angular momentum is conserved. If the body changes shape so that
BEFORE AFTER its moment of inertia changes, its angular velocity changes to keep the
angular momentum constant.

EXAMPLE 10.11 A rotational “collision” WITH ARIATION PROBLEMS

Figure 10.30 shows two disks: an engine flywheel (A) and a clutch Figure 10.30 When the net external torque is zero, angular
plate (B) attached to a transmission shaft. Their moments of inertia are ­momentum is conserved.
IA and IB; initially, they are rotating in the same direction with constant
angular speeds vA and vB, respectively. We push the disks together vB
vA
with forces acting along the axis, so as not to apply any torque on either S S
disk. The disks rub against each other and eventually reach a common F −F
BEFORE
angular speed v. Derive an expression for v.
IDENTIFY, SET UP, and EXECUTE There are no external torques, so the IB
only torque acting on either disk is the torque applied by the other disk.
IA
Hence the total angular momentum of the system of two disks is con-
served. At the end they rotate together as one object with total moment S S
Forces F and −F are along the axis of rotation,
of inertia I = IA + IB and angular speed v. Figure 10.30 shows that
and thus exert no torque about this axis on
all angular velocities are in the same direction, so we can regard vA, either disk.
vB, and v as components of angular velocity along the rotation axis.
Conservation of angular momentum gives
v
IAvA + IB vB = 1IA + IB2v
S S
IAvA + IB vB F −F
v = AFTER
IA + IB

EVALUATE This “collision” is analogous to a completely inelastic colli-

sion (see Section 8.3). When two objects in translational motion along the IA + IB
 10.6 Conservation of Angular Momentum    321

same axis collide and stick, the linear momentum of the system is con- of 50 rad>s (about 500 rpm), and clutch plate B has a mass of 4.0 kg,
served. Here two objects in rotational motion around the same axis “col- a radius of 0.10 m, and an initial angular speed of 200 rad>s. Can you
lide” and stick, and the angular momentum of the system is conserved. show that the final kinetic energy is only two-thirds of the initial ki-
The kinetic energy of a system decreases in a completely inelastic netic energy?
collision. Here kinetic energy is lost because nonconservative (friction)
internal forces act while the two disks rub together. Suppose flywheel KEYCONCEPT In processes that conserve angular momentum, the
A has a mass of 2.0 kg, a radius of 0.20 m, and an initial angular speed kinetic energy can change if nonconservative forces act.

EXAMPLE 10.12 Angular momentum in a crime bust WITH ARIATION PROBLEMS

A door 1.00 m wide, of mass 15 kg, can rotate freely about a vertical The final angular momentum is Iv, where I = Idoor + Ibullet . From
axis through its hinges. A bullet with a mass of 10 g and a speed of Table 9.2, case (d), for a door of width d = 1.00 m,
400 m>s strikes the center of the door, in a direction perpendicular to
Md 2 115 kg211.00 m2 2
the plane of the door, and embeds itself there. Find the door’s angular Idoor = = = 5.0 kg # m2
speed. Is kinetic energy conserved? 3 3
The moment of inertia of the bullet (with respect to the axis along the
IDENTIFY and SET UP We consider the door and bullet as a system.
hinges) is
There is no external torque about the hinge axis, so angular momentum
about this axis is conserved. Figure 10.31 shows our sketch. The initial Ibullet = ml 2 = 10.010 kg210.50 m2 2 = 0.0025 kg # m2
angular momentum is that of the bullet, as given by Eq. (10.25). The
final angular momentum is that of a rigid body composed of the door Conservation of angular momentum requires that mvl = Iv, or

2.0 kg # m2>s
and the embedded bullet. We’ll equate these quantities and solve for the
mvl
resulting angular speed v of the door and bullet. v = = = 0.40 rad>s
I 5.0 kg # m2 + 0.0025 kg # m2
EXECUTE From Eq. (10.25), the initial angular momentum of the bullet is
The initial and final kinetic energies are
L = mvl = 10.010 kg21400 m>s210.50 m2 = 2.0 kg # m2>s
K1 = 12 mv2 = 12 10.010 kg21400 m>s2 2 = 800 J
Figure 10.31 The swinging door seen from above. K2 = 12 Iv2 = 12 15.0025 kg # m2210.40 rad>s2 2 = 0.40 J
1
EVALUATE The final kinetic energy is only 2000 of the initial value! We
did not expect kinetic energy to be conserved: The collision is inelas-
tic because nonconservative friction forces act during the impact. The
door’s final angular speed is quite slow: At 0.40 rad>s, it takes 3.9 s to
swing through 90° 1p>2 radians2.
KEYCONCEPT The total angular momentum of a system that in-
cludes a rigid body and a particle is the sum of the angular momenta
for the rigid body and for the particle. You can find the magnitude of the
angular momentum of a particle about a rotation axis by multiplying the
magnitude of its linear momentum by the perpendicular distance from
the axis to the line of the particle’s velocity.

TEST YOUR UNDERSTANDING OF SECTION 10.6 If the polar ice caps were to melt
­completely due to global warming, the melted ice would redistribute itself over the earth. This
change would cause the length of the day (the time needed for the earth to rotate once on its axis)
to (i) increase; (ii) decrease; (iii) remain the same. (Hint: Use angular momentum ideas. Assume
that the sun, moon, and planets exert negligibly small torques on the earth.)
lar velocity vz would decrease slightly and the day would be slightly longer.
ANSWER
planet’s rotation axis—and the earth’s moment of inertia I would increase slightly. Hence the angu-
constant. The melted ice would move from the poles toward the equator—that is, away from our
❙ (i) In the absence of external torques, the earth’s angular momentum L z = Ivz would remain
322    CHAPTER 10 Dynamics of Rotational Motion

Figure 10.32 A gyroscope supported at 10.7 GYROSCOPES AND PRECESSION

one end. The horizontal circular motion of
the flywheel and axis is called precession. In all the situations we’ve looked at so far in this chapter, the axis of rotation either has
The angular speed of precession is Ω. stayed fixed or has moved and kept the same direction (such as rolling without slipping).
Circular motion But a variety of new physical phenomena, some quite unexpected, can occur when the axis
of flywheel axis Ω
Flywheel of rotation changes direction. For example, consider a toy gyroscope that’s supported at one
(precession)
Flywheel end (Fig. 10.32). If we hold it with the flywheel axis horizontal and let go, the free end of
axis the axis simply drops owing to gravity—if the flywheel isn’t spinning. But if the flywheel
is spinning, what happens is quite different. One possible motion is a steady circular mo-
Pivot tion of the axis in a horizontal plane, combined with the spin motion of the flywheel about
Path followed
the axis. This surprising, nonintuitive motion of the axis is called precession. Precession
by free end of v Rotation of is found in nature as well as in rotating machines such as gyroscopes. As you read these
axis flywheel words, the earth itself is precessing; its spin axis (through the north and south poles) slowly
When the flywheel and its axis are stationary, changes direction, going through a complete cycle of precession every 26,000 years.
they will fall to the table surface. When the To study this strange phenomenon of precession, we must remember that angular ve-

g T that acts on an object Sand the rate of

flywheel spins, it and its axis “float” in the air
locity, angular momentum, and torque are all vector quantities. In particular, we need
while moving in a circle about the pivot.

change of the object’s angular momentum L, given by Eq. (10.29), g T ∙ dL>dt. Let’s first
S
the general relationship between the net torqueS S

apply this equation to the case in which the flywheel is not spinning (Fig. 10.33a). We
take the origin O at the pivot and assume that the flywheel is symmetrical, with mass M
Figure 10.33 (a) If the flywheel in Fig. 10.32 and moment of inertia I about the flywheel axis. The flywheel axis is initially along the x-
S
is initially not spinning, its initial angular axis. The only external forces on the gyroscope are the normal force n acting at the pivot
S
momentum is zero. (b) In each successive (assumed to be frictionless) and the weight w of the flywheel that acts at its center of mass,
time
S
interval dt, the torque produces a change a distance r from the pivot. The normal force has zero torque with respect to the pivot, and
S
dL ∙ T dt in the angular momentum. TheS S
the weight has a torque T in the y-direction, Sas shown in Fig. 10.33a. Initially, there isS no
flywheel acquires an angular momentum L
S
in the same direction as T, and the rotation, and the initial angular momentum Li is zero. From Eq. (10.29) the change dL in
flywheel axis falls. angular momentum in a short time interval dt following this is
S S
(a) Nonrotating flywheel falls dL ∙ T dt (10.32)
S
z This change is in the y-direction because T is. As each additional time interval dt elapses,
S
y S S S the angular momentum changes by additional increments dL in the y-direction because
S
n T=r: w
the direction of the torque is constant (Fig. 10.33b). The steadily increasing horizontal an-
Pivot gular momentum means that the gyroscope rotates downward faster and faster around the
O x
S
r Axis y-axis until it hits either the stand or the table on which it sits.
Now let’sSsee what happens if the flywheel is spinning initially, so the initial angular
S momentum Li is not zero (Fig. 10.34a). Since the flywheel rotates around its symmetry
w Path of free end S S
axis, Li lies along this axis. But each change in angular momentum dL is perpendicular to
When the flywheel is not rotating, its weight S S S
the flywheel axis because the torque T ∙ r : w is perpendicular to that axis (Fig. 10.34b).
creates a torque around the pivot, causing it
to fall along a circular path until its axis rests
on the table surface.
S
Figure 10.34 (a) The flywheel is spinning initially with angular momentum Li. The forces (not
(b) View from above as flywheel falls shown) are theSsame as those in Fig. 10.33a. (b) Because the initialSangular momentum is not zero,
S
each
S
change dL ∙ T dt in angular momentum is perpendicular to L . As a result, the magnitude of
y L remains the same but its direction changes continuously.
S
S
dL 1L i = 02
S (a) Rotating flywheel (b) View from above
dLS
S
dLS = Lf When the flywheel is rotating, the Ssystem Now the effect of the torque is to cause
Pivot dL
S starts with an angular momentum Li parallel the angular momentum to precess around
dL x to the flywheel’s axis of rotation. the pivot. The gyroscope circles around
O
its pivot without falling.
Flywheel Rotation of flywheel y S
z dL S
In falling, the flywheel rotates about the S
T Torque due to weight
S
Lf dL S
y dLS
pivot and thus acquires an angular momentum force (as in Fig. 10.33)
S S
L. The direction of L stays constant. S dL
Li dL
S

x S
Li
Initial angular
v momentum due to x
O
rotation of flywheel
 10.7 Gyroscopes and Precession    323

S S
This causes the direction of L to change, but not its magnitude. The changes dL are al-
ways in the horizontal xy-plane, so the angular momentum vector and the flywheel axis
with which it moves are always horizontal. That is, the axis doesn’t fall—it precesses.
If this still seems mystifying to you, think about a ball attached to a string. If the ball is
initially at rest and you pull the string toward you, the ball moves toward you also. But if
the ball is initially moving and you continuously pull the string in a direction perpendicu-
lar to the ball’s motion, the ball moves in a circle around your hand; it does not approach
S
your hand at all. InSthe first case the ball has zero linear momentum p to start with; whenS
S
you apply a force F toward you for a time dt, the ball acquires a momentum d p ∙ F dt,
S
which is also toward you. But if the ball already has linear momentum p, a change in
S S
momentum d p that’sS
perpendicular
S
to p changes the direction of motion, not the speed.
S S
Replace p with L and F with T in this argument, and you’ll see that precession is simply
the rotational analog of uniform circular motion. S
At the instant shown in Fig. 10.34a, the gyroscopeS
has
S
angular momentum L. A short
time interval dt later, the
S
angular momentum is L ∙ dL; theS infinitesimal change in an-
S
gular momentum is dL ∙ T dt, which is perpendicular to L. As the vector diagram in
Fig. 10.35 shows, this means that theS flywheel
S
axis of the gyroscope has turned through
a small angle df given by df = 0 dL 0 > 0 L 0 . The rate at which the axis moves, df>dt, is
called the precession angular speed; denoting this quantity by Ω, we find

S S
df 0 dL 0 > 0 L 0 tz wr
Ω = = = = (10.33)
dt dt Lz Iv

Thus the precession angular speed is inversely proportional to the angular speed of spin
about the axis. A rapidly spinning gyroscope precesses slowly; if friction in its bearings
causes the flywheel to slow down, the precession angular speed increases! The precession
angular speed of the earth is very slow 11 rev>26,000 yr2 because its spin angular momen-
tum L z is large and the torque tz , due to the gravitational influences of the moon and sun,
is relatively small.
As a gyroscope precesses, its center of mass moves in a circle with radius r in a hori-
S
zontal plane. Its vertical component of acceleration is zero, so the upward normal force n
exerted by the pivot must be just equal in magnitude to the Sweight. The circular motion
of the center of mass with angular speed Ω requires a force F directed toward the center
of the circle, with magnitude F = M Ω 2r. This force must also be supplied by the pivot.
One key assumptionS that we made in our analysis of the gyroscope was that the angu-
lar momentum vector L is associated with only the spin of the flywheel and is purely hori-
zontal. But there will also be a vertical component of angular momentum associated with
the precessional motion of the gyroscope. By ignoring this, we’ve tacitly assumed that the
precession is slow—that is, that the precession angular speed Ω is very much less than
the spin angular speed v. As Eq. (10.33) shows, a large value of v automatically gives a
small value of Ω, so this approximation is reasonable. When the precession is not slow,
additional effects show up, including an up-and-down wobble or nutation of the flywheel
axis that’s superimposed on the precessional motion. You can see nutation occurring in Sa
gyroscope as its spin slows down, so that Ω increases and the vertical component of L
can no longer be ignored.

Figure 10.35 Detailed view of part of In a time dt, the angular momentum
Fig. 10.34b. vector and the flywheel axis (to which
it is parallel) precess together through
an angle df.
y

S S
L + dL dL
S

df
x
O S
L
324    CHAPTER 10 Dynamics of Rotational Motion

EXAMPLE 10.13 A precessing gyroscope

S S
Figure 10.36a shows a top view of a spinning, cylindrical gyroscope EXECUTE (a) The right-hand rule shows that V and L are to the left
S
wheel. The pivot is at O, and the mass of the axle is negligible. (a) As in Fig. 10.36b. The weight w points into the page in this top view and
seen from above, is the precession clockwise or counterclockwise? acts at the center of mass (denoted by : in the S
figure). The torque
S S S
(b) If the gyroscope takes 4.0 s for one revolution of precession, what is T ∙ r : w is toward the top of the Spage, so dL>dt is also towardS
the
the angular speed of the wheel? top of the page. SAdding a small dL to the initial vector L changes
the direction of L as shown, so the precession is clockwise as seen
IDENTIFY and SET UP We’ll determine the direction of precession by
from above.
using the right-hand rule as in Fig. 10.34, which shows the same kind of
(b) Be careful not to confuse v and Ω! The precession angular speed
gyroscope as Fig. 10.36. We’ll use the relationship between precession
is Ω = 11 rev2>14.0 s2 = 12p rad2>14.0 s2 = 1.57 rad>s. The weight
angular speed Ω and spin angular speed v, Eq. (10.33), to find v.
is mg, and if the wheel is a solid, uniform cylinder, its moment of inertia
about its symmetry axis is I = 12 mR2. From Eq. (10.33),
Figure 10.36 In which direction and at what speed does this
gyroscope precess? wr mgr 2gr
v = = = 2
(a) Top view 2.0 cm IΩ 2
1mR >22Ω R Ω
219.8 m>s2212.0 * 10-2 m2
Pivot 3.0 cm =
13.0 * 10-2 m2 2 11.57 rad>s2
v
O = 280 rad>s = 2600 rev>min
Top view

EVALUATE The precession angular speed Ω is only about 0.6% of the

spin angular speed v, so this is an example of slow precession.
(b) Vector S S
Weight force
diagram L + ∆L pointing into
S
∆f
S
T page KEYCONCEPT A spinning rigid body will precess if the net external
∆L torque on the rigid body is perpendicular to the body’s angular momen-
S
L S
V S
r
S
w tum vector.

TEST YOUR UNDERSTANDING OF SECTION 10.7 Suppose the mass of the flywheel in
Fig. 10.34 is doubled but all other dimensions and the spin angular speed remain the same. What
effect would this change have on the precession angular speed Ω? (i) Ω would increase by a factor
of 4; (ii) Ω would double; (iii) Ω would be unaffected; (iv) Ω would be one-half as much; (v) Ω
would be one-quarter as much.
pends on this ratio, so there would be no effect on the value of Ω.
ANSWER the ratio I>w would be unchanged. Equation (10.33) shows that the precession angular speed de-
❙ (iii) Doubling the flywheel mass would double both its moment of inertia I and its weight w, so
 Summary    325

CHAPTER 10 SUMMARY
S
Torque: When a force F acts on an object, the torque of t = Fl = rF sin f = Ftan r (10.2) Frad = F cos f
S l = r sin f
that force with respect to a point O has a magnitude given S S
T ∙ r : F (10.3) = lever arm
f f
by the product of the force magnitude F and the lever arm l. S
F
S
More generally, torque is a vector T equal to the vector S
S r
product of r (theS position vector of the point at which the Ftan = F sin f
force acts) and F. (See Example 10.1.) S
O
S S
T=r: F

Rotational dynamics: The rotational analog of Newton’s g tz = Iaz (10.7) y

second law says that the net torque acting on an object F F n
equals the product of the object’s moment of inertia and its R R
angular acceleration. (See Examples 10.2 and 10.3.) x
M
Mg

Combined translation and rotation: If a rigid body is K = 12 Mvcm2 + 12 Icm v2 (10.8)
g Fext ∙ M acm
both moving through space and rotating, its motion can S S
(10.12) R
g tz = Icm az
be regarded as translational motion of the center of mass
plus rotational motion about an axis through the center (10.13) vcm = 0
1 M v = 0
of mass. Thus the kinetic energy is a sum of translational vcm = Rv (10.11)
and rotational kinetic energies. For dynamics, Newton’s (rolling without slipping) h v
second law describes the motion of the center of mass, and
the rotational equivalent of Newton’s second law describes 2
rotation about the center of mass. In the case of rolling vcm
without slipping, there is a special relationship between
the motion of the center of mass and the rotational motion.
(See Examples 10.4–10.7.)

Work done by a torque: A torque that acts on a rigid body u2

Lu1
as it rotates does work on that body. The work can be W = tz du (10.20)
S

expressed as an integral of the torque. The work–­energy Ftan

W = tz1u2 - u12 = tz ∆u (10.21)
theorem says that the total rotational work done on a ds
(constant torque only) du
rigid body is equal to the change in rotational kinetic S R R
­energy. The power, or rate at which the torque does work, Wtot = 12 Iv22 - 12 Iv12 (10.22) Ftan
is the product of the torque and the angular velocity O
P = tz vz (10.23)
(See Example 10.8.)

Angular momentum: The angular momentum of a particle

S S S S S
L ∙ r : p ∙ r : mv (10.24) S
L
with respect to point O is the vector product of the par- (particle)
S
ticle’s position vector r relative to O and its momentum S S
V
S

S S
p ∙ mv. When a symmetrical object rotates about a sta- L ∙ IV (10.28)
tionary axis of symmetry, its angular momentum is the (rigid body rotating
product of its moment of inertia and its angular velocity about axis of symmetry)
S
vector V. If the object is not symmetrical or the rotation
1z2 axis is not an axis of symmetry, the component of
angular momentum along the rotation axis is Ivz . (See
Example 10.9.)

gT ∙
Rotational dynamics and angular momentum: The net
S
S dL
external torque on a system is equal to the rate of change  (10.29)
dt
of its angular momentum. If the net external torque on a S
dL
system is zero, the total angular momentum of the system is ∙ 0 (10.31)
dt
constant (conserved). (See Examples 10.10–10.13.)
(zero net external torque)
326    CHAPTER 10 Dynamics of Rotational Motion

Chapter 10 Media Assets

GUIDED PRACTICE For assigned homework and other learning materials, go to Mastering Physics.

center of mass? Does it accelerate upward or downward? (b) What is

KEY EXAMPLE ARIATION PROBLEMS
the angular acceleration of the yo-yo around its axis?
Be sure to review EXAMPLES 10.2 and 10.3 (Section 10.2) before at- VP10.7.4 You place a solid cylinder of mass M on a ramp that is in-
tempting these problems. clined at an angle b to the horizontal. The coefficient of static friction
VP10.3.1 In the cylinder and cable apparatus of Example 10.2, you for the cylinder on the ramp is ms. (a) If the cylinder rolls downhill with-
apply a force to the cable so that a point on the horizontal part of the out slipping, what is the magnitude of the friction force that the ramp
cable accelerates to the left at 0.60 m>s2. What are the magnitudes of exerts on the cylinder? (b) You find by varying the angle of the ramp
(a) the angular acceleration of the cylinder, (b) the torque that the cable that the cylinder rolls without slipping if b is less than a certain critical
exerts on the cylinder, and (c) the force that you exert on the cable? value but the cylinder slips if b is greater than this critical value. What is
VP10.3.2 In the cylinder, cable, and block apparatus of Example 10.3, this critical value of b?
you replace the solid cylinder with a thin-walled, hollow cylinder of
mass M and radius R. Find (a) the acceleration of the falling block and Be sure to review EXAMPLES 10.11 and 10.12 (Section 10.6) before
(b) the tension in the cable as the block falls. attempting these problems.
VP10.3.3 A bucket of mass m is hanging from the free end of a rope VP10.12.1 In the situation shown in Example 10.11, suppose disk A
whose other end is wrapped around a drum (radius R, mass M) that can has moment of inertia IA and initial angular speed vA, while disk B has
rotate with negligible friction about a stationary horizontal axis. The moment of inertia IA>4 and initial angular speed vA>2. Initially disks A
drum is not a uniform cylinder and has unknown moment of inertia. and B are rotating in the same direction. (a) What is the final common
When you release the bucket from rest, you find that it has a down- angular speed of the two disks? (b) What fraction of the initial rotational
ward acceleration of magnitude a. What are (a) the tension in the cable kinetic energy remains as rotational kinetic energy after the disks have
between the drum and the bucket and (b) the moment of inertia of the come to their final common angular speed?
drum about its rotation axis? VP10.12.2 In the situation shown in Example 10.11, suppose disk A
VP10.3.4 In the cylinder, cable, and block apparatus of Example 10.3, has moment of inertia IA and initial angular speed vA, while disk B has
you attach an electric motor to the axis of the cylinder of mass M and moment of inertia IA>4 and initial angular speed vA>2. Initially disks A
radius R and turn the motor on. As a result the block of mass m moves and B are rotating in opposite directions. (a) What is the final common
upward with an upward acceleration of magnitude a. What are (a) the angular speed of the two disks? (b) What fraction of the initial rotational
tension in the cable between the cylinder and the block, (b) the magni- kinetic energy remains as rotational kinetic energy after the disks have
tude of the torque that the cable exerts on the cylinder, and (c) the mag- come to their final common angular speed?
nitude of the torque that the motor exerts on the cylinder? VP10.12.3 Suppose that instead of hitting the center of the door,
the bullet in Example 10.12 strikes the door at the edge farthest away
Be sure to review EXAMPLES 10.6 and 10.7 (Section 10.3) before from the hinge and embeds itself there. (a) What is the angular speed
attempting these problems. of the door just after the bullet embeds itself? (b) What fraction of the
VP10.7.1 In the primitive yo-yo apparatus of Example 10.6, you re- initial kinetic energy of the bullet remains as kinetic energy after the
place the solid cylinder with a hollow cylinder of mass M, outer radius R, collision?
and inner radius R>2. Find (a) the downward acceleration of the hollow VP10.12.4 A thin-walled, hollow sphere of mass M and radius R is
cylinder and (b) the tension in the string. free to rotate around a vertical shaft that passes through the center of
VP10.7.2 A thin-walled, hollow sphere of mass M rolls without slip- the sphere. Initially the sphere is at rest. A small ball of clay of the
ping down a ramp that is inclined at an angle b to the horizontal. Find same mass M moving horizontally at speed v grazes the surface of
(a) the acceleration of the sphere, (b) the magnitude of the friction force the sphere at its equator. After grazing the surface, the ball of clay is
that the ramp exerts on the sphere, and (c) the magnitude of the torque moving at speed v>2. (a) What is the angular momentum of the ball
that this force exerts on the sphere. of clay about the shaft before it grazes the surface? After it grazes the
VP10.7.3 You redo the primitive yo-yo experiment of Example 10.6, surface? (b) What is the angular speed of the sphere after being grazed
but instead of holding the free end of the string stationary, you move by the ball of clay? (c) What fraction of the ball of clay’s initial kinetic
your hand vertically so that the tension in the string equals 2Mg>3. energy remains as the combined kinetic energy of the sphere and the
(a) What is the magnitude of the vertical acceleration of the yo-yo’s ball of clay?

BRIDGING PROBLEM Billiard Physics

A cue ball (a uniform solid sphere of mass m and radius R) is at rest on Figure 10.37 Hitting a cue ball with a cue.
a level pool table. Using a pool cue, you give the ball a sharp, horizontal
hit of magnitude F at a height h above the center of the ball (Fig. 10.37). Cue
The force of the hit is much greater than the friction force f that the h Mass m
table surface exerts on the ball. The hit lasts for a short time ∆t. (a) For
what value of h will the ball roll without slipping? (b) If you hit the ball R
dead center 1h = 02, the ball will slide across the table for a while, but
eventually it will roll without slipping. What will the speed of its center
of mass be then?
 Problems    327

SOLUTION GUIDE the rotational version of the impulse–momentum theorem to find

the angular speed immediately after the hit. (Hint: To write the
IDENTIFY and SET UP
rotational version of the impulse–momentum theorem, remem-
1. Draw a free-body diagram for the ball for the situation in part (a), ber that the relationship between torque and angular momentum
including your choice of coordinate axes. Note that the cue is the same as that between force and linear momentum.)
­exerts both an impulsive force on the ball and an impulsive 6. Use your results from step 5 to find the value of h that will cause
torque around the center of mass. the ball to roll without slipping immediately after the hit.
2. The cue force applied for a time ∆t gives the ball’s center of 7. In part (b), again find the ball’s center-of-mass speed and angu-
mass a speed vcm , and the cue torque applied for that same time lar speed immediately after the hit. Then write Newton’s second
gives the ball an angular speed v. How must vcm and v be re- law for the translational motion and rotational motion of the ball
lated for the ball to roll without slipping? as it slides. Use these equations to write expressions for vcm and
3. Draw two free-body diagrams for the ball in part (b): one show- v as functions of the elapsed time t since the hit.
ing the forces during the hit and the other showing the forces 8. Using your results from step 7, find the time t when vcm and v
after the hit but before the ball is rolling without slipping. have the correct relationship for rolling without slipping. Then
4. What is the angular speed of the ball in part (b) just after the find the value of vcm at this time.
hit? While the ball is sliding, does vcm increase or decrease?
EVALUATE
Does v increase or decrease? What is the relationship between
vcm and v when the ball is finally rolling without slipping? 9. If you have access to a pool table, test the results of parts (a) and
(b) for yourself!
EXECUTE
10. Can you show that if you used a hollow cylinder rather than a
5. In part (a), use the impulse–momentum theorem to find the speed solid ball, you would have to hit the top of the cylinder to cause
of the ball’s center of mass immediately after the hit. Then use rolling without slipping as in part (a)?

PROBLEMS
•, ••, •••: Difficulty levels. CP: Cumulative problems incorporating material from earlier chapters. CALC: Problems requiring calculus.
DATA: Problems involving real data, scientific evidence, experimental design, and>or statistical reasoning. BIO: Biosciences problems.

DISCUSSION QUESTIONS inexpensive experiment that you could perform quickly, without injur-
ing the precious ball, to find out whether it is solid or hollow.
Q10.1 Can a single force applied to an object change both its transla- Q10.9 You make two versions of the same object out of the same mate-
tional and rotational motions? Explain. rial having uniform density. For one version, all the dimensions are ex-
Q10.2 Suppose you could use wheels of any type in the design of a actly twice as great as for the other one. If the same torque acts on both
soapbox-derby racer (an unpowered, four-wheel vehicle that coasts versions, giving the smaller version angular acceleration a, what will be
from rest down a hill). To conform to the rules on the total weight of the the angular acceleration of the larger version in terms of a ?
vehicle and rider, should you design with large massive wheels or small Q10.10 Two identical masses are attached to frictionless pulleys by very
light wheels? Should you use solid wheels or wheels with most of the light strings wrapped around the rim of the pulley and are released from
mass at the rim? Explain. rest. Both pulleys have the same mass and same diameter, but one is solid
Q10.3 Serious bicyclists say that if you reduce the weight of a bike, and the other is a hoop. As the masses fall, in which case is the tension
it is more effective if you do so in the wheels rather than in the frame. in the string greater, or is it the same in both cases? Justify your answer.
Why would reducing weight in the wheels make it easier on the bicy- Q10.11 The force of gravity acts on the baton in Fig. 10.11, and forces
clist than reducing the same amount in the frame? produce torques that cause a body’s angular velocity to change. Why,
Q10.4 The harder you hit the brakes while driving forward, the more then, is the angular velocity of the baton in the figure constant?
the front end of your car will move down (and the rear end move up). Q10.12 Without slipping, a certain solid uniform ball rolls at speed v on a
Why? What happens when cars accelerate forward? Why do drag racers horizontal surface and then up a hill to a maximum height h0. How does the
not use front-wheel drive only? maximum height change (in terms of h0) if you make only the following
Q10.5 When an acrobat walks on a tightrope, she extends her arms changes: (a) double the ball’s diameter, (b) double its mass, (c) double both
straight out from her sides. She does this to make it easier for her to its diameter and mass, (d) double its angular speed at the bottom of the hill?
catch herself if she should tip to one side or the other. Explain how this Q10.13 A wheel is rolling without slipping on a horizontal surface. In
works. [Hint: Think about Eq. (10.7).] an inertial frame of reference in which the surface is at rest, is there any
Q10.6 When you turn on an electric motor, it takes longer to come up point on the wheel that has a velocity that is purely vertical? Is there any
to final speed if a grinding wheel is attached to the shaft. Why? point that has a horizontal velocity component opposite to the velocity
Q10.7 The work done by a force is the product of force and distance. of the center of mass? Explain. Do your answers change if the wheel is
The torque due to a force is the product of force and distance. Does this slipping as it rolls? Why or why not?
mean that torque and work are equivalent? Explain. Q10.14 A hoop, a uniform solid cylinder, a spherical shell, and a uniform
Q10.8 A valued client brings a treasured ball to your engineering firm, solid sphere are released from rest at the top of an incline. What is the order
wanting to know whether the ball is solid or hollow. He has tried tap- in which they arrive at the bottom of the incline? Does it matter whether or
ping on it, but that has given insufficient information. Design a simple, not the masses and radii of the objects are all the same? Explain.
328    CHAPTER 10 Dynamics of Rotational Motion

Q10.15 A ball is rolling along at speed v without slipping on a hori- Q10.27 A gyroscope is precessing about a vertical axis. What hap-
zontal surface when it comes to a hill that rises at a constant angle above pens to the precession angular speed if the following changes are made,
the horizontal. In which case will it go higher up the hill: if the hill has with all other variables remaining the same? (a) The angular speed
enough friction to prevent slipping or if the hill is perfectly smooth? of the spinning flywheel is doubled; (b) the total weight is doubled;
Justify your answer in both cases in terms of energy conservation and in (c) the moment of inertia about the axis of the spinning flywheel is
terms of Newton’s second law. doubled; (d) the distance from the pivot to the center of gravity is dou-
Q10.16 You are standing at the center of a large horizontal turntable bled. (e) What happens if all of the variables in parts (a) through (d) are
in a carnival funhouse. The turntable is set rotating on frictionless bear- ­doubled? In each case justify your answer.
ings, and it rotates freely (that is, there is no motor driving the turnta- Q10.28 A gyroscope takes 3.8 s to precess 1.0 revolution about a verti-
ble). As you walk toward the edge of the turntable, what happens to the cal axis. Two minutes later, it takes only 1.9 s to precess 1.0 revolution.
combined angular momentum of you and the turntable? What happens No one has touched the gyroscope. Explain.
to the rotation speed of the turntable? Explain. Q10.29 A gyroscope is precessing as in Fig. 10.32. What happens if
Q10.17 Global Warming. If the earth’s climate continues to warm, ice you gently add some weight to the end of the flywheel axis farthest
near the poles will melt, and the water will be added to the oceans. What from the pivot?
effect will this have on the length of the day? Justify your answer. Q10.30 A bullet spins on its axis as it emerges from a rifle. Explain
Q10.18 If two spinning objects have the same angular momentum, do how this prevents the bullet from tumbling and keeps the streamlined
they necessarily have the same rotational kinetic energy? If they have end pointed forward.
the same rotational kinetic energy, do they necessarily have the same
angular momentum? Explain. EXERCISES
Q10.19 A student is sitting on a frictionless rotating stool with her
arms outstretched as she holds equal heavy weights in each hand. If she Section 10.1 Torque
suddenly lets go of the weights, will her angular speed increase, stay the 10.1 • CalculateS the torque (magnitude and direction) about point O
same, or decrease? Explain. due to the force F inSeach of the cases sketched in Fig. E10.1. In each
Q10.20 A point particle travels in a straight line at constant speed, and case, both the force F and the rod lie in the plane of the page, the rod
the closest distance it comes to the origin of coordinates is a distance l. has length 4.00 m, and the force has magnitude F = 10.0 N.
With respect to this origin, does the particle have nonzero angular mo-
Figure E10.1
mentum? As the particle moves along its straight-line path, does its an-
gular momentum with respect to the origin change? (a) (b) (c)
Q10.21 In Example 10.10 (Section 10.6) the angular speed v changes,
O O O
and this must mean that there is nonzero angular acceleration. But there 30.0°
F
is no torque about the rotation axis if the forces the professor applies to 90.0° F 120.0° F
the weights are directly, radially inward. Then, by Eq. (10.7), az must
be zero. Explain what is wrong with this reasoning that leads to this ap-
(d) (e) (f)
parent contradiction.
Q10.22 In Example 10.10 (Section 10.6) the rotational kinetic energy F F
60.0° 60.0°
of the professor and dumbbells increases. But since there are no ex- F
O O O
ternal torques, no work is being done to change the rotational kinetic
energy. Then, by Eq. (10.22), the kinetic energy must remain the same! 2.00 m
Explain what is wrong with this reasoning, which leads to an apparent
contradiction. Where does the extra kinetic energy come from? 10.2 • Calculate the net torque about point O for the two forces applied
Q10.23 As discussed in Section 10.6, the angular momentum of a cir- as in Fig. E10.2. The rod and both forces are in the plane of the page.
cus acrobat is conserved as she tumbles through the air. Is her linear
momentum conserved? Why or why not? Figure E10.2
Q10.24 If you stop a spinning raw egg for the shortest possible instant F2 = 12.0 N F1 = 8.00 N
and then release it, the egg will start spinning again. If you do the same
to a hard-boiled egg, it will remain stopped. Try it. Explain it.
Q10.25 A helicopter has a large main rotor that rotates in a horizon- 30.0°
O
tal plane and provides lift. There is also a small rotor on the tail that
rotates in a vertical plane. What is the purpose of the tail rotor? (Hint: 2.00 m 3.00 m
If there were no tail rotor, what would happen when the pilot changed
the angular speed of the main rotor?) Some helicopters have no tail 10.3 •• A square metal plate 0.180 Figure E10.3
rotor, but instead have two large main rotors that rotate in a horizontal m on each side is pivoted about
F2 F1
plane. Why is it important that the two main rotors rotate in opposite an axis through point O at its cen-
ter and perpendicular to the plate 0.180 m
directions?
Q10.26 In a common design for a gyroscope, the flywheel and fly- (Fig. E10.3). Calculate the net torque
wheel axis are enclosed in a light, spherical frame with the flywheel about this axis due to the three forces
0.180 m

at the center of the frame. The gyroscope is then balanced on top shown in the figure if the magnitudes of
of a pivot so that the flywheel is directly above the pivot. Does the the forces are F1 = 18.0 N, F2 = 26.0 N, O
gyroscope precess if it is released while the flywheel is spinning? and F3 = 14.0 N. The plate and all forces
Explain. are in the plane of the page.
45°
F3
 Problems    329

10.4 • Three forces are applied to a wheel of radius 0.350 m, as shown that the axle exerts on the wheel. (c) Which of the answers in parts (a)
in Fig. E10.4. One force is perpendicular to the rim, one is tangent to it, and (b) would change if the pull were upward instead of horizontal?
and the other one makes a 40.0° angle with the radius. What is the net 10.11 •• A machine part has the shape of a solid uniform sphere of
torque on the wheel due to these three forces for an axis perpendicular mass 225 g and diameter 3.00 cm. It is spinning about a frictionless axle
to the wheel and passing through its center? through its center, but at one point on its equator it is scraping against
metal, resulting in a friction force of 0.0200 N at that point. (a) Find its
Figure E10.4 angular acceleration. (b) How long will it take to decrease its rotational
speed by 22.5 rad>s ?
10.12 •• CP A stone is suspended from the free end of a wire that is
11.9 N wrapped around the outer rim of a pulley, similar to what is shown in
40.0° 14.6 N Fig. 10.10. The pulley is a uniform disk with mass 10.0 kg and radius
30.0 cm and turns on frictionless bearings. You measure that the stone
m travels 12.6 m in the first 3.00 s starting from rest. Find (a) the mass of
50
0.3

the stone and (b) the tension in the wire.

10.13 •• CP A 2.00 kg textbook rests on a frictionless, horizontal sur-
8.50 N
face. A cord attached to the book passes over a pulley whose diameter
is 0.150 m, to a hanging book with mass 3.00 kg. The system is re-
S
leased from rest, and the books are observed to move 1.20 m in 0.800 s.
10.5 • One force acting on a machine part is F ∙ 1-5.00 N2dn ∙ (a) What is the tension in each part of the cord? (b) What is the moment
14.00 N2en. The vector from the origin to the point where the force Sis of inertia of the pulley about its rotation axis?
10.14 •• CP A 15.0 kg bucket of water is suspended by a very light
S S
applied is r ∙ 1- 0.450 m2dn ∙ 10.150 m2en. (a) In a sketch, show r , F,
and the origin. (b) Use the right-hand rule to determine the direction of rope wrapped around a solid uniform cylinder 0.300 m in diameter with
the torque. (c) Calculate the vector torque for an axis at the origin pro- mass 12.0 kg. The cylinder pivots on a frictionless axle through its cen-
duced by this force. Verify that the direction of the torque is the same as ter. The bucket is released from rest at the top of a well and falls 10.0 m
you obtained in part (b). to the water. (a) What is the tension in the rope while the bucket is fall-
10.6 • A metalSbar is in the xy-plane with one end of the bar at the ing? (b) With what speed does the bucket strike the water? (c) What is
origin. A force F ∙ 17.00 N2dn ∙ 1- 3.00 N2en is applied to the bar at the time of fall? (d) While the bucket is falling, what is the force exerted
the point x = 3.00 m, y = 4.00 m. (a) In terms of unit vectors nd and ne , on the cylinder by the axle?
10.15 • A wheel rotates without friction about a stationary horizon-
S
what is the position vector r for the point where the force is applied?
(b) What are the magnitude
S
and direction of the torque with respect to tal axis at the center of the wheel. A constant tangential force equal to
the origin produced by F? 80.0 N is applied to the rim of the wheel. The wheel has radius 0.120 m.
10.7 • A machinist is using a wrench Figure E10.7 Starting from rest, the wheel has an angular speed of 12.0 rev>s after
to loosen a nut. The wrench is 25.0 cm 17.0 N 2.00 s. What is the moment of inertia of the wheel?
long, and he exerts a 17.0 N force at 10.16 •• A 12.0 kg box resting on Figure E10.16
37°
the end of the handle at 37° with the a horizontal, frictionless surface is at- 12.0 kg
handle (Fig. E10.7). (a) What torque tached to a 5.00 kg weight by a thin, light
m
does the machinist exert about the 0c wire that passes over a frictionless pulley
25.
center of the nut? (b) What is the Nut (Fig. E10.16). The pulley has the shape
maximum torque he could exert with of a uniform solid disk of mass 2.00 kg
a force of this ­magnitude, and how and diameter 0.500 m. After the system
should the force be oriented? is released, find (a) the tension in the 5.00 kg
wire on both sides of the pulley, (b) the
Section 10.2 Torque and Angular Acceleration for a Rigid Body acceleration of the box, and (c) the horizontal and vertical components
10.8 •• A uniform disk with mass 40.0 kg and radius 0.200 m is piv- of the force that the axle exerts on the pulley.
oted at its center about a horizontal, frictionless axle that is stationary. 10.17 •• CP A solid cylinder with radius 0.140 m is mounted on a
The disk is initially at rest, and then a constant force F = 30.0 N is frictionless, stationary axle that lies along the cylinder axis. The cylin-
applied tangent to the rim of the disk. (a) What is the magnitude v of der is initially at rest. Then starting at t = 0 a constant horizontal force
the tangential velocity of a point on the rim of the disk after the disk of 3.00 N is applied tangential to the surface of the cylinder. You mea-
has turned through 0.200 revolution? (b) What is the magnitude a of the sure the angular displacement u - u0 of the cylinder as a function of
resultant acceleration of a point on the rim of the disk after the disk has the time t since the force was first applied. When you plot u - u0 (in
turned through 0.200 revolution? radians) as a function of t 2 (in s2), your data lie close to a straight line. If
10.9 •• The flywheel of an engine has moment of inertia 1.60 kg # m2 the slope of this line is 16.0 rad>s2, what is the moment of inertia of the
about its rotation axis. What constant torque is required to bring it up to cylinder for rotation about the axle?
an angular speed of 400 rev>min in 8.00 s, starting from rest? 10.18 •• CP Two spheres are rolling without slipping on a horizontal
10.10 • A cord is wrapped around the rim of a solid uniform wheel floor. They are made of different materials, but each has mass 5.00 kg
0.250 m in radius and of mass 9.20 kg. A steady horizontal pull of and radius 0.120 m. For each the translational speed of the center of
40.0 N to the right is exerted on the cord, pulling it off tangentially from mass is 4.00 m>s. Sphere A is a uniform solid sphere and sphere B is a
the wheel. The wheel is mounted on frictionless bearings on a horizon- thin-walled, hollow sphere. How much work, in joules, must be done on
tal axle through its center. (a) Compute the angular acceleration of the each sphere to bring it to rest? For which sphere is a greater magnitude
wheel and the acceleration of the part of the cord that has already been of work required? Explain. (The spheres continue to roll without slip-
pulled off the wheel. (b) Find the magnitude and direction of the force ping as they slow down.)
330    CHAPTER 10 Dynamics of Rotational Motion

Section 10.3 Rigid-Body Rotation About a Moving Axis 10.27 •• At a typical bowling alley the distance from the line where
10.19 • A 2.20 kg hoop 1.20 m in diameter is rolling to the right the ball is released (foul line) to the first pin is 60 ft. Estimate the time
­ ithout slipping on a horizontal floor at a steady 2.60 rad>s. (a) How
w it takes the ball to reach the pins after you release it, if it rolls without
fast is its center moving? (b) What is the total kinetic energy of the slipping and has a constant translational speed. Assume the ball weighs
hoop? (c) Find the velocity vector of each of the following points, as 12 lb and has a diameter of 8.5 in. (a) Use your estimate to calculate
viewed by a person at rest on the ground: (i) the highest point on the the rotation rate of the ball, in rev>s. (b) What is its total kinetic energy
hoop; (ii) the lowest point on the hoop; (iii) a point on the right side of in joules and what fraction of the total is its rotational kinetic energy?
the hoop, midway between the top and the bottom. (d) Find the veloc- Ignore the finger holes and treat the bowling ball as a uniform sphere.
ity vector for each of the points in part (c), but this time as viewed by 10.28 • Two uniform solid balls are rolling without slipping at a con-
someone moving along with the same velocity as the hoop. stant speed. Ball 1 has twice the diameter, half the mass, and one-third
10.20 •• Example 10.7 calculates the friction force needed for a uni- the speed of ball 2. The kinetic energy of ball 2 is 27.0 J. What is the
form sphere to roll down an incline without slipping. The incline is at an kinetic energy of ball 1?
angle b above the horizontal. And the example discusses that the fric- 10.29 •• A thin, light string is wrapped Figure E10.29
tion is static. (a) If the maximum friction force is given by f = ms n, around the outer rim of a uniform hollow
where n is the normal force that the ramp exerts on the sphere, in terms cylinder of mass 4.75 kg having inner
of b what is the minimum coefficient of static friction needed if the and outer radii as shown in Fig. E10.29.
sphere is to roll without slipping? (b) Based on your result in part (a), The cylinder is then released from rest.
what does the minimum required ms become in the limits b S 90° and (a) How far must the cylinder fall before
b S 0°? its center is moving at 6.66 m>s? (b) If
10.21 • What fraction of the total kinetic energy is rotational for the you just dropped this cylinder without
following objects rolling without slipping on a horizontal surface? (a) A any string, how fast would its center be 20.0 cm
uniform solid cylinder; (b) a uniform sphere; (c) a thin-walled, hollow moving when it had fallen the ­distance
sphere; (d) a hollow cylinder with outer radius R and inner radius R>2. in part (a)? (c) Why do you get two
10.22 •• A string is wrapped several Figure E10.22 different answers when the cylinder
­ 35.0 cm
times around the rim of a small hoop falls the same distance in both cases?
with radius 8.00 cm and mass 0.180 kg. 10.30 •• A Ball Rolling Uphill. A bowling ball rolls without slip-
The free end of the string is held in ping up a ramp that slopes upward at an angle b to the horizontal (see
place and the hoop is released from rest Example 10.7 in Section 10.3). Treat the ball as a uniform solid sphere,
(Fig. E10.22). After the hoop has ignoring the finger holes. (a) Draw the free-body diagram for the ball.
descended 75.0 cm, calculate (a) the
­ Explain why the friction force must be directed uphill. (b) What is
angular speed of the rotating hoop and the acceleration of the center of mass of the ball? (c) What minimum
(b) the speed of its center. 0.0800 m ­coefficient of static friction is needed to prevent slipping?
10.23 •• A solid ball is released 10.31 •• A size-5 soccer ball of diameter 22.6 cm and mass 426 g
from rest and slides down a hillside rolls up a hill without slipping, reaching a maximum height of 5.00 m
that slopes downward at 65.0° from the above the base of the hill. We can model this ball as a thin-walled hol-
horizontal. (a) What minimum value must the coefficient of static fric- low sphere. (a) At what rate was it rotating at the base of the hill? (b)
tion between the hill and ball surfaces have for no slipping to occur? How much rotational kinetic energy did it have then? Neglect rolling
(b) Would the coefficient of friction calculated in part (a) be sufficient to friction and assume the system’s total mechanical energy is conserved.
prevent a hollow ball (such as a soccer ball) from slipping? Justify your
answer. (c) In part (a), why did we use the coefficient of static friction Section 10.4 Work and Power in Rotational Motion
and not the coefficient of kinetic friction? 10.32 • An engine delivers 175 hp to an aircraft propeller at
10.24 •• A hollow, spherical shell with mass 2.00 kg rolls w ­ ithout 2400 rev>min. (a) How much torque does the aircraft engine provide?
­slipping down a 38.0° slope. (a) Find the acceleration, the friction (b) How much work does the engine do in one revolution of the propeller?
force, and the minimum coefficient of static friction needed to prevent 10.33 • A playground merry-go-round has radius 2.40 m and moment
­slipping. (b) How would your answers to part (a) change if the mass of inertia 2100 kg # m2 about a vertical axle through its center, and it
were ­doubled to 4.00 kg? turns with negligible friction. (a) A child applies an 18.0 N force tan-
10.25 •• A 392 N wheel comes off a moving truck and rolls with- gentially to the edge of the merry-go-round for 15.0 s. If the merry-
out slipping along a highway. At the bottom of a hill it is rotating at go-round is initially at rest, what is its angular speed after this 15.0 s
25.0 rad>s. The radius of the wheel is 0.600 m, and its moment of inertia interval? (b) How much work did the child do on the merry-go-round?
about its rotation axis is 0.800MR2. Friction does work on the wheel as (c) What is the average power supplied by the child?
it rolls up the hill to a stop, a height h above the bottom of the hill; this 10.34 •• An electric motor consumes 9.00 kJ of electrical energy in
work has absolute value 2600 J. Calculate h. 1.00 min. If one-third of this energy goes into heat and other forms
10.26 •• A uniform marble rolls down a symmetrical bowl, starting of internal energy of the motor, with the rest going to the motor ­output,
from rest at the top of the left side. The top of each side is a distance h how much torque will this engine develop if you run it at 2500 rpm?
above the bottom of the bowl. The left half of the bowl is rough enough 10.35 • A 2.80 kg grinding wheel is in the form of a solid cylinder
to cause the marble to roll without slipping, but the right half has no of radius 0.100 m. (a) What constant torque will bring it from rest to
friction because it is coated with oil. (a) How far up the smooth side an angular speed of 1200 rev>min in 2.5 s? (b) Through what angle has
will the marble go, measured vertically from the bottom? (b) How it turned during that time? (c) Use Eq. (10.21) to calculate the work
high would the marble go if both sides were as rough as the left side? done by the torque. (d) What is the grinding wheel’s kinetic energy
(c) How do you account for the fact that the marble goes higher with when it is rotating at 1200 rev>min ? Compare your answer to the re-
friction on the right side than without friction? sult in part (c).
 Problems    331

10.36 •• An airplane propeller is 2.08 m in length (from tip to tip) 10.43 •• Under some circumstances, a star can collapse into an ex-
and has a mass of 117 kg. When the airplane’s engine is first started, it tremely dense object made mostly of neutrons and called a neutron star.
applies a constant net torque of 1950 N # m to the propeller, which starts The density of a neutron star is roughly 1014 times as great as that of
from rest. (a) What is the angular acceleration of the propeller? Model ordinary solid matter. Suppose we represent the star as a uniform, solid,
the propeller as a slender rod and see Table 9.2. (b) What is the propel- rigid sphere, both before and after the collapse. The star’s initial radius
ler’s angular speed after making 5.00 revolutions? (c) How much work was 7.0 * 105 km (comparable to our sun); its final radius is 16 km. If
is done by the engine during the first 5.00 revolutions? (d) What is the the original star rotated once in 30 days, find the angular speed of the
average power output of the engine during the first 5.00 revolutions? neutron star.
(e) What is the instantaneous power output of the motor at the instant 10.44 •• A diver comes off a board with arms straight up and legs
that the propeller has turned through 5.00 revolutions? straight down, giving her a moment of inertia about her rotation axis
of 18 kg # m2. She then tucks into a small ball, decreasing this moment
Section 10.5 Angular Momentum of inertia to 3.6 kg # m2. While tucked, she makes two complete revolu-
10.37 • A 2.00 kg rock has a Figure E10.37 tions in 1.0 s. If she hadn’t tucked at all, how many revolutions would
horizontal velocity of magnitude v = 12.0 m>s she have made in the 1.5 s from board to water?
12.0 m>s when it is at point P in 10.45 •• The Spinning Figure Figure E10.45
Fig. E10.37. (a) At this instant, what P
Skater. The outstretched hands
are the magnitude and direction of its 8.00 m and arms of a figure skater prepar-
angular momentum relative to point ing for a spin can be considered a
O? (b) If the only force acting on the slender rod pivoting about an axis
rock is its weight, what is the rate of 36.9°
through its center (Fig. E10.45).
change (magnitude and direction) of O When the skater’s hands and arms
its angular momentum at this instant? are brought in and wrapped around
10.38 •• A woman with mass 50 kg is standing on the rim of a large his body to execute the spin, the
horizontal disk that is rotating at 0.80 rev>s about an axis through hands and arms can be considered
its center. The disk has mass 110 kg and radius 4.0 m. Calculate the a thin-walled, hollow cylinder. His
magnitude of the total angular momentum of the woman–disk system. hands and arms have a combined
(Assume that you can treat the woman as a point.) mass of 8.0 kg. When outstretched, they span 1.8 m; when wrapped,
10.39 •• Find the magnitude of the angular momentum of the second they form a cylinder of radius 25 cm. The moment of inertia about
hand on a clock about an axis through the center of the clock face. The clock the rotation axis of the remainder of his body is constant and equal to
hand has a length of 15.0 cm and a mass of 6.00 g. Take the second hand to 0.40 kg # m2. If his original angular speed is 0.40 rev>s, what is his final
be a slender rod rotating with constant angular velocity about one end. angular speed?
10.40 •• (a) Calculate the magnitude of the angular momentum of the 10.46 •• A solid wood door 1.00 m wide and 2.00 m high is hinged
earth in a circular orbit around the sun. Is it reasonable to model it as along one side and has a total mass of 40.0 kg. Initially open and at rest,
a particle? (b) Calculate the magnitude of the angular momentum of the door is struck at its center by a handful of sticky mud with mass
the earth due to its rotation around an axis through the north and south 0.500 kg, traveling perpendicular to the door at 12.0 m>s just before im-
poles, modeling it as a uniform sphere. Consult Appendix E and the as- pact. Find the final angular speed of the door. Does the mud make a
tronomical data in Appendix F. significant contribution to the moment of inertia?
10.41 •• CALC A hollow, thin-walled sphere of mass 12.0 kg and di- 10.47 •• A large wooden turntable in the shape of a flat uniform
ameter 48.0 cm is rotating about an axle through its center. The angle disk has a radius of 2.00 m and a total mass of 120 kg. The turntable
(in radians) through which it turns as a function of time (in seconds) is is initially rotating at 3.00 rad>s about a vertical axis through its center.
given by u1t2 = At 2 + Bt 4, where A has numerical value 1.50 and B Suddenly, a 70.0 kg parachutist makes a soft landing on the turntable at
has numerical value 1.10. (a) What are the units of the constants A and a point near the outer edge. (a) Find the angular speed of the turntable
B? (b) At the time 3.00 s, find (i) the angular momentum of the sphere after the parachutist lands. (Assume that you can treat the parachutist
and (ii) the net torque on the sphere. as a particle.) (b) Compute the kinetic energy of the system before and
after the parachutist lands. Why are these kinetic energies not equal?
Section 10.6 Conservation of Angular Momentum 10.48 •• Asteroid Collision! Suppose that an asteroid traveling
10.42 • CP A small block on a Figure E10.42 straight toward the center of the earth were to collide with our planet at
frictionless, horizontal surface has the equator and bury itself just below the surface. What would have to
a mass of 0.0250 kg. It is attached be the mass of this asteroid, in terms of the earth’s mass M, for the day
to a massless cord passing through to become 25.0% longer than it presently is as a result of the collision?
a hole in the surface (Fig. E10.42). Assume that the asteroid is very small compared to the earth and that
The block is originally revolving at the earth is uniform throughout.
a distance of 0.300 m from the hole 10.49 •• A small 10.0 g bug stands at one end of a thin uniform bar
with an angular speed of 2.85 rad>s. that is initially at rest on a smooth horizontal table. The other end of
The cord is then pulled from below, the bar pivots about a nail driven into the table and can rotate freely,
shortening the radius of the circle in without friction. The bar has mass 50.0 g and is 100 cm in length. The
which the block revolves to 0.150 m. bug jumps off in the horizontal direction, perpendicular to the bar, with
Model the block as a particle. (a) Is a speed of 20.0 cm>s relative to the table. (a) What is the angular speed
the angular momentum of the block conserved? Why or why not? of the bar just after the frisky insect leaps? (b) What is the total kinetic
(b) What is the new angular speed? (c) Find the change in kinetic en- energy of the system just after the bug leaps? (c) Where does this en-
ergy of the block. (d) How much work was done in pulling the cord? ergy come from?
332    CHAPTER 10 Dynamics of Rotational Motion

10.50 •• A thin uniform rod has a length of 0.500 m and is rotating PROBLEMS
in a circle on a frictionless table. The axis of rotation is perpendicular
10.57 •• You are riding your bicycle on a city street, and you are stay-
to the length of the rod at one end and is stationary. The rod has an
ing a constant distance behind a car that is traveling at the speed limit of
angular velocity of 0.400 rad>s and a moment of inertia about the axis
of 3.00 * 10-3 kg # m2. A bug initially standing on the rod at the axis
30 mph. Estimate the diameters of the bicycle wheels and sprockets and
use these estimated quantities to calculate the number of revolutions per
of rotation decides to crawl out to the other end of the rod. When the
minute made by the large sprocket to which the pedals are attached. Do
bug has reached the end of the rod and sits there, its tangential speed is
a Web search if you aren’t familiar with the parts of a bicycle.
0.160 m>s. The bug can be treated as a point mass. What is the mass of
10.58 •• A 50.0 kg grindstone is a solid disk 0.520 m in diam-
(a) the rod; (b) the bug?
eter. You press an ax down on the rim with a normal force of 160 N
10.51 •• You live on a planet far from ours. Based on extensive com-
(Fig. P10.58). The coefficient of kinetic friction between the blade and
the stone is 0.60, and there is a constant friction torque of 6.50 N # m
munication with a physicist on earth, you have determined that all laws
of physics on your planet are the same as ours and you have adopted the
between the axle of the stone and its bearings. (a) How much force must
same units of seconds and meters as on earth. But you suspect that the
be applied tangentially at the end of a crank handle 0.500 m long to
value of g, the acceleration of an object in free fall near the surface of
bring the stone from rest to 120 rev>min in 9.00 s? (b) After the grind-
your planet, is different from what it is on earth. To test this, you take a
stone attains an angular speed of 120 rev>min, what tangential force at
solid uniform cylinder and let it roll down an incline. The vertical height h
the end of the handle is needed to maintain a constant angular speed of
of the top of the incline above the lower end of the incline can be
120 rev>min? (c) How much time does it take the grindstone to come
varied. You measure the speed vcm of the center of mass of the cylinder
from 120 rev>min to rest if it is acted on by the axle friction alone?
when it reaches the bottom for various values of h. You plot vcm2 (in
m2>s2) versus h (in m) and find that your data lie close to a straight line Figure P10.58
with a slope of 6.42 m>s2. What is the value of g on your planet?
v
10.52 •• A uniform, 4.5 kg, square, solid wooden gate 1.5 m on
m = 50.0 kg
each side hangs vertically from a frictionless pivot at the center of its
upper edge. A 1.1 kg raven flying horizontally at 5.0 m>s flies into
this door at its center and bounces back at 2.0 m>s in the opposite
­direction. (a) What is the angular speed of the gate just after it is struck F = 160 N
by the u­ nfortunate raven? (b) During the collision, why is the angular
­momentum conserved but not the linear momentum?
10.53 •• A teenager is standing at the rim of a large horizontal uni-
form wooden disk that can rotate freely about a vertical axis at its
center. The mass of the disk (in kg) is M and its radius (in m) is R. The
mass of the teenager (in kg) is m. The disk and teenager are initially at
rest. The teenager then throws a large rock that has a mass (in kg) of
mrock. As it leaves the thrower’s hands, the rock is traveling horizon-
tally with speed v (in m>s) relative to the earth in a direction tangent to
the rim of the disk. The teenager remains at rest relative to the disk and
10.59 ••• A grindstone in the shape of a solid disk with diameter
0.520 m and a mass of 50.0 kg is rotating at 850 rev>min. You press an
so rotates with it after throwing the rock. In terms of M, R, m, mrock,
ax against the rim with a normal force of 160 N (Fig. P10.58), and the
and v, what is the angular speed of the disk? Treat the teenager as a
grindstone comes to rest in 7.50 s. Find the coefficient of friction be-
point mass.
tween the ax and the grindstone. You can ignore friction in the bearings.
10.54 •• A uniform solid disk made of wood is horizontal and rotates
10.60 •• CP Block A rests on a horizontal tabletop. A light horizon-
freely about a vertical axle at its center. The disk has radius 0.600 m
tal rope is attached to it and passes over a pulley, and block B is sus-
and mass 1.60 kg and is initially at rest. A bullet with mass 0.0200 kg is
pended from the free end of the rope. The light rope that connects the
fired horizontally at the disk, strikes the rim of the disk at a point per-
two blocks does not slip over the surface of the pulley (radius 0.080 m)
pendicular to the radius of the disk, and becomes embedded in its rim, a
because the pulley rotates on a frictionless axle. The horizontal surface
distance of 0.600 m from the axle. After being struck by the bullet, the
on which block A (mass 2.50 kg) moves is frictionless. The system is
disk rotates at 4.00 rad>s. What is the horizontal velocity of the bullet
released from rest, and block B (mass 6.00 kg) moves downward 1.80 m
just before it strikes the disk?
in 2.00 s. (a) What is the tension force that the rope exerts on block B?
(b) What is the tension force on block A? (c) What is the moment of
Section 10.7 Gyroscopes and Precession inertia of the pulley for rotation about the axle on which it is mounted?
10.55 • Stabilization of the Hubble Space Telescope. The Hubble 10.61 ••• A thin, uniform, 3.80 Figure P10.61
Space Telescope is stabilized to within an angle of about 2-millionths kg bar, 80.0 cm long, has very 2.50 kg 2.50 kg
of a degree by means of a series of gyroscopes that spin at 19,200 rpm. small 2.50 kg balls glued on at
Although the structure of these gyroscopes is actually quite complex, either end (Fig. P10.61). It is sup-
we can model each of the gyroscopes as a thin-walled cylinder of mass ported horizontally by a thin, hor- Bar Axle (seen end-on)
2.0 kg and diameter 5.0 cm, spinning about its central axis. How large izontal, frictionless axle passing
a torque would it take to cause these gyroscopes to precess through an through its center and perpendicular to the bar. Suddenly the right-hand
angle of 1.0 * 10-6 degree during a 5.0 hour exposure of a galaxy? ball becomes detached and falls off, but the other ball remains glued to
10.56 • A Gyroscope on the Moon. A certain gyroscope precesses the bar. (a) Find the angular acceleration of the bar just after the ball
at a rate of 0.50 rad>s when used on earth. If it were taken to a lunar falls off. (b) Will the angular acceleration remain constant as the bar
base, where the acceleration due to gravity is 0.165g, what would be its continues to swing? If not, will it increase or decrease? (c) Find the
precession rate? angular velocity of the bar just as it swings through its vertical position.
 Problems    333

10.62 •• Example 10.7 discusses a uniform solid sphere rolling with- 10.67 •• CP A wheel with radius 0.0600 m rotates about a horizontal
out slipping down a ramp that is at an angle b above the horizontal. Now frictionless axle at its center. The moment of inertia of the wheel about
consider the same sphere rolling without slipping up the ramp. (a) In the axle is 2.50 kg # m2. The wheel is initially at rest. Then at t = 0 a
terms of g and b, calculate the acceleration of the center of mass of the force F = (5.00 N>s)t is applied tangentially to the wheel and the wheel
sphere. Is your result larger or smaller than starts to rotate. What is the magnitude of the force at the instant when
the acceleration when the sphere rolls down the wheel has turned through 8.00 revolutions?
Figure P10.63
the ramp, or is it the same? (b) Calculate the 10.68 •• A lawn roller in the form of a thin-walled, hollow cylinder
friction force (in terms of M, g, and b) for the with mass M is pulled horizontally with a constant horizontal force F
sphere to roll without slipping as it moves up applied by a handle attached to the axle. If it rolls without slipping, find
the incline. Is the result larger, smaller, or the the acceleration and the friction force.
same as the friction force required to prevent 10.69 • Two weights are connected Figure P10.69
slipping as the sphere rolls down the incline? by a very light, flexible cord that passes
10.63 •• The Atwood’s Machine. Figure over an 80.0 N frictionless pulley of ra-
P10.63 illustrates an Atwood’s machine. Find C dius 0.300 m. The pulley is a solid uni-
the linear accelerations of blocks A and B, the form disk and is supported by a hook
angular acceleration of the wheel C, and the connected to the ceiling (Fig. P10.69).
tension in each side of the cord if there is no What force does the ceiling exert on the
slipping between the cord and the surface of the hook?
wheel. Let the masses of blocks A and B be 4.00 A 10.70 •• A large uniform horizontal 125 N
kg and 2.00 kg, respectively, the moment of in- turntable rotates freely about a vertical
ertia of the wheel about its axis be 0.220 kg # m2, B axle at its center. You measure the radius
and the radius of the wheel be 0.120 m. 75.0 N
of the turntable to be 3.00 m. To deter-
10.64 ••• The mechanism shown Figure P10.64 mine the moment of inertia I of the turn-
in Fig. P10.64 is used to raise a table about the axle, you start the turntable rotating with angular speed
crate of supplies from a ship’s v, which you measure. You then drop a small object of mass m onto the
hold. The crate has total mass 0.12 m rim of the turntable. After the object has come to rest relative to the turn-
50 kg. A rope is wrapped around F table, you measure the angular speed vf of the rotating turntable. You
a wooden cylinder that turns on plot the quantity (v - vf)>vf (with both v and vf in rad>s) as a func-
a metal axle. The cylinder has ra- tion of m (in kg). You find that your data lie close to a straight line that
dius 0.25 m and moment of inertia has slope 0.250 kg - 1. What is the moment of inertia I of the turntable?
I = 2.9 kg # m2 about the axle. The 10.71 • The Yo-yo. A yo-yo is made from two uniform disks, each
crate is suspended from the free with mass m and radius R, connected by a light axle of radius b. A light,
end of the rope. One end of the axle pivots on frictionless bearings; thin string is wound several times around the axle and then held sta-
a crank handle is attached to the other end. When the crank is turned, tionary while the yo-yo is released from rest, dropping as the string
the end of the handle rotates about the axle in a vertical circle of radius unwinds. Find the linear acceleration and angular acceleration of the
0.12 m, theS cylinder turns, and the crate is raised. What magnitude of yo-yo and the tension in the string.
the force F applied tangentially to the rotating crank is required to 10.72 •• CP A thin-walled, hollow spherical shell of mass m and radius r
raise the crate with an acceleration of 1.40 m>s2 ? (You can ignore the starts from rest and rolls without slipping down a track (Fig. P10.72).
mass of the rope as well as the moments of inertia of the axle and Points A and B are on a circular part of the track having radius R. The
the crank.) diameter of the shell is very small compared to h0 and R, and the work
10.65 •• A solid uniform sphere and a thin-walled, hollow sphere done by rolling friction is negligible. (a) What is the minimum height h0
have the same mass M and radius R. If they roll without slipping up for which this shell will make a complete loop-the-loop on the circular
a ramp that is inclined at an angle b above the horizontal and if both part of the track? (b) How hard does the track push on the shell at point
have the same vcm before they start up the incline, calculate the maxi- B, which is at the same level as the center of the circle? (c) Suppose
mum height above their starting point reached by each object. Which that the track had no friction and the shell was released from the same
object reaches the greater height, or do both of them reach the same height h0 you found in part (a). Would it make a complete loop-the-
height? loop? How do you know? (d) In part (c), how hard does the track push
10.66 •• A block with mass m = 5.00 kg slides down a surface in- on the shell at point A, the top of the circle? How hard did it push on the
clined 36.9° to the horizontal (Fig. P10.66). The coefficient of kinetic shell in part (a)?
friction is 0.25. A string attached to the
Figure P10.66
block is wrapped around a flywheel Figure P10.72
on a fixed axis at O. The flywheel has O
mass 25.0 kg and moment of inertia Shell
0.500 kg # m2 with respect to the axis of
5.00 kg
rotation. The string pulls without slipping A
at a perpendicular distance of 0.200 m h0
from that axis. (a) What is the accelera­tion B
of the block down the plane? (b) What 36.9° R
is the tension in the string?
334    CHAPTER 10 Dynamics of Rotational Motion

10.73 •• A basketball (which can be closely modeled as a hollow 10.77 •• A 42.0-cm-diameter wheel, consisting of a rim and six
spherical shell) rolls down a mountainside into a valley and then up spokes, is constructed from a thin, rigid plastic material having a linear
the opposite side, starting from rest at a height H0 above the bottom. In mass density of 25.0 g>cm. This wheel is released from rest at the top of
Fig. P10.73, the rough part of the terrain prevents slipping while the a hill 58.0 m high. (a) How fast is it rolling when it reaches the bottom
smooth part has no friction. Neglect rolling friction and assume the sys- of the hill? (b) How would your answer change if the linear mass den-
tem’s total mechanical energy is conserved. (a) How high, in terms of sity and the diameter of the wheel were each doubled?
H0, will the ball go up the other side? (b) Why doesn’t the ball return to 10.78 ••• A uniform, 0.0300 kg rod of length 0.400 m rotates in a
height H0? Has it lost any of its original potential energy? horizontal plane about a fixed axis through its center and perpendicular
to the rod. Two small rings, each with mass 0.0200 kg, are mounted so
Figure P10.73 that they can slide without friction along the rod. They are initially held
by catches at positions 0.0500 m on each side of the center of the rod,
and the system is rotating at 48.0 rev>min. With no other changes in the
Rough Smooth system, the catches are released, and the rings slide outward along the
rod and fly off at the ends. What is the angular speed (a) of the system
H0
at the instant when the rings reach the ends of the rod; (b) of the rod
after the rings leave it?
10.79 • A uniform solid cylinder with mass M and radius 2R rests on
a horizontal tabletop. A string is attached by a yoke to a frictionless axle
through the center of the cylinder so that the cylinder can rotate about
10.74 •• CP A solid uniform Figure P10.74 the axle. The string runs over a disk-shaped pulley with mass M and ra-
ball rolls without slipping up a hill dius R that is mounted on a frictionless axle through its center. A block
(Fig. P10.74). At the top of the hill, of mass M is suspended from the free end of the string (Fig. P10.79).
25.0 m>s
it is moving horizontally, and then it 28.0 m The string doesn’t slip over the pulley surface, and the cylinder rolls
goes over the vertical cliff. Neglect without slipping on the tabletop. Find the magnitude of the acceleration
rolling friction and assume the of the block after the system is released from rest.
­system’s total mechanical energy is
conserved. (a) How far from the foot Figure P10.79
of the cliff does the ball land, and how fast is it moving just before it M
lands? (b) Notice that when the balls lands, it has a greater translational
2R R
speed than when it was at the bottom of the hill. Does this mean that the
ball somehow gained energy? Explain! M
10.75 •• Rolling Stones. A solid, uniform, spherical boulder starts
from rest and rolls down a 50.0-m-high hill, as shown in Fig. P10.75.
The top half of the hill is rough enough to cause the boulder to roll
without slipping, but the lower half is covered with ice and there is no
M
friction. What is the translational speed of the boulder when it reaches
the bottom of the hill? Neglect rolling friction and assume the system’s
total mechanical energy is conserved.
10.80 ••• A 5.00 kg ball is dropped from a height of 12.0 m above
one end of a uniform bar that pivots at its center. The bar has mass 8.00
Figure P10.75
kg and is 4.00 m in length. At the other end of the bar sits another 5.00
kg ball, unattached to the bar. The dropped ball sticks to the bar after the
Rough collision. How high will the other ball go after the collision?
10.81 •• A uniform rod of length L rests on a frictionless horizontal
50.0 m surface. The rod pivots about a fixed frictionless axis at one end. The
Smooth
rod is initially at rest. A bullet traveling parallel to the horizontal surface
and perpendicular to the rod with speed v strikes the rod at its center
and becomes embedded in it. The mass of the bullet is one-fourth the
mass of the rod. (a) What is the final angular speed of the rod? (b) What
10.76 ••• You are designing a system for moving aluminum cylinders is the ratio of the kinetic energy of the system after the collision to the
from the ground to a loading dock. You use a sturdy wooden ramp that is kinetic energy of the bullet before the collision?
6.00 m long and inclined at 37.0° above the horizontal. Each cylinder is fit- 10.82 •• CP A large turntable with radius 6.00 m rotates about a fixed
ted with a light, frictionless yoke through its center, and a light (but strong) vertical axis, making one revolution in 8.00 s. The moment of inertia of
rope is attached to the yoke. Each cylinder is uniform and has mass 460 the turntable about this axis is 1200 kg # m2. You stand, barefooted, at
kg and radius 0.300S
m. The cylinders are pulledS up the ramp by applying the rim of the turntable and very slowly walk toward the center, along a
a constant force F to the free end of the rope. F is parallel to the surface radial line painted on the surface of the turntable. Your mass is 70.0 kg.
of the ramp and exerts no torque on the cylinder. The coefficient of static Since the radius of the turntable is large, it is a good approximation to
friction between theS ramp surface and the cylinder is 0.120. (a) What is the treat yourself as a point mass. Assume that you can maintain your bal-
largest magnitude F can have so that the cylinder still rolls without slip- ance by adjusting the positions of your feet. You find that you can reach
ping as it moves up the ramp? (b) If the cylinder starts from rest at the bot- a point 3.00 m from the center of the turntable before your feet begin
tom of the ramp and rolls without slipping as it moves up the ramp, what to slip. What is the coefficient of static friction between the bottoms of
is the shortest time it can take the cylinder to reach the top of the ramp? your feet and the surface of the turntable?
 Problems    335

10.83 •• In your job as a mechanical engineer you are designing a 10.89 •• DATA You have one Figure P10.89
flywheel and clutch-plate system like the one in Example 10.11. Disk object of each of these shapes, t (s)
A is made of a lighter material than disk B, and the moment of inertia of all with mass 0.840 kg: a uni-
2.4
disk A about the shaft is one-third that of disk B. The moment of form solid cylinder, a thin-walled
inertia of the shaft is negligible. With the clutch disconnected, A is hollow cylinder, a uniform solid 2.2
brought up to an angular speed v0; B is initially at rest. The acceler- sphere, and a thin-walled hol-
2.0
ating torque is then removed from A, and A is coupled to B. (Ignore low sphere. You release each
bearing friction.) The design specifications allow for a maximum of object from rest at the same ver- 1.8
2400 J of thermal energy to be developed when the connection is tical height h above the bottom
1.6
made. What can be the maximum value of the original kinetic energy of a long wooden ramp that is A B C D
of disk A so as not to ­exceed the maximum allowed value of the ther- inclined at 35.0° from the hori-
mal energy? zontal. Each object rolls without
10.84 •• A local ice hockey team has asked you to design an appara- slipping down the ramp. You measure the time t that it takes each one to
tus for measuring the speed of the hockey puck after a slap shot. Your reach the bottom of the ramp; Fig. P10.89 shows the results. (a) From
design is a 2.00-m-long, uniform rod pivoted about one end so that it the bar graphs, identify objects A through D by shape. (b) Which of ob-
is free to rotate horizontally on the ice without friction. The 0.800 kg jects A through D has the greatest total kinetic energy at the bottom of
rod has a light basket at the other end to catch the 0.163 kg puck. The the ramp, or do all have the same kinetic energy? (c) Which of objects A
through D has the greatest rotational kinetic energy 12 Iv2 at the bottom
S
puck slides across the ice with velocity v (perpendicular to the rod), hits
the basket, and is caught. After the collision, the rod rotates. If the rod of the ramp, or do all have the same rotational kinetic energy? (d) What
makes one revolution every 0.736 s after the puck is caught, what was minimum coefficient of static friction is required for all four objects to
the puck’s speed just before it hit the rod? roll without slipping?
10.85 ••• A 500.0 g bird is fly- Figure P10.85 10.90 ••• DATA You are testing a small flywheel (radius 0.166 m)
ing horizontally at 2.25 m>s, not that will be used to store a small amount of energy. The flywheel is
paying much attention, when it sud- 25.0 pivoted with low-friction bearings about a horizontal shaft through the
denly flies into a stationary vertical Bird cm flywheel’s center. A thin, light cord is wrapped multiple times around
bar, hitting it 25.0 cm below the top the rim of the flywheel.
S
Your lab has a device that can apply a speci-
(Fig. P10.85). The bar is uniform, fied horizontal force F to the free end of the cord. The device records
0.750 m long, has a mass of 1.50 kg, both the magnitude of that force as a function of the horizontal distance
and is hinged at its base. The col- the end of the cord has traveled and the time elapsed since the force
lision stuns the bird so that it just was first applied. The flywheel is initially at rest. (a) You start with a
drops to the ground afterward (but Hinge test run to determine the flywheel’s moment of inertia I. The magni-
soon recovers to fly happily away). tude F of the force is a constant 25.0 N, and the end of the rope moves
What is the angular velocity of the bar (a) just after it is hit by the bird 8.35 m in 2.00 s. What is I? (b) In a second test, the flywheel again
and (b) just as it reaches the ground? starts from rest but the free end of the rope travels 6.00 m; Fig. P10.90
10.86 ••• CP A small block with mass 0.130 kg is attached to a shows the force magnitude F as a function of the distance d that the end
string passing through a hole in a frictionless, horizontal surface (see of the rope has moved. What is the kinetic energy of the flywheel when
Fig. E10.42). The block is originally revolving in a circle with a r­ adius d = 6.00 m? (c) What is the angular speed of the flywheel, in rev>min,
of 0.800 m about the hole with a tangential speed of 4.00 m>s. The when d = 6.00 m?
string is then pulled slowly from below, shortening the radius of the Figure P10.90
circle in which the block revolves. The breaking strength of the string is
30.0 N. What is the radius of the circle when the string breaks? F (N)
10.87 • A 55 kg runner runs around the edge of a horizontal turn-
table mounted on a vertical, frictionless axis through its center. The 60.0
runner’s velocity relative to the earth has magnitude 2.8 m>s. The
turntable is rotating in the opposite direction with an angular velocity 40.0
of magnitude 0.20 rad>s relative to the earth. The radius of the turn-
table is 3.0 m, and its moment of inertia about the axis of rotation is 20.0
80 kg # m2. Find the final angular velocity of the system if the runner
comes to rest relative to the turntable. (You can model the runner as d (m)
a particle.) 0 2.00 4.00 6.00
10.88 •• DATA The V6 engine in a 2014 Chevrolet Silverado 1500
pickup truck is reported to produce a maximum power of 285 hp at
5300 rpm and a maximum torque of 305 ft # lb at 3900 rpm. (a) Calculate CHALLENGE PROBLEMS
the torque, in both ft # lb and N # m, at 5300 rpm. Is your answer in 10.91 ••• CP CALC A block with mass m is revolving with linear
ft # lb smaller than the specified maximum value? (b) Calculate the speed v1 in a circle of radius r1 on a frictionless horizontal surface
power, in both horsepower and watts, at 3900 rpm. Is your answer in (see Fig. E10.42). The string is slowly pulled from below until the
hp smaller than the specified maximum value? (c) The relationship be- radius of the circle in which the block is revolving is reduced to r2.
tween power in hp and torque in ft # lb at a particular angular velocity (a) Calculate the tension T in the string as a function of r, the distance
in rpm is often written as hp = 3torque 1in ft # lb2 * rpm4>c, where
velocity v1 andSthe radius r1. (b) Use W = 1r12 T1r2 ~ d r to calculate the
of the block from the hole. Your answer will be in terms of the initial
r S S
c is a constant. What is the numerical value of c? (d) The engine of a
2012 Chevrolet Camaro ZL1 is reported to produce 580 hp at 6000 rpm. work done by T when r changes from r1 to r2. (c) Compare the results of
What is the torque (in ft # lb) at 6000 rpm? part (b) to the change in the kinetic energy of the block.
336    CHAPTER 10 Dynamics of Rotational Motion

10.92 ••• When an object is rolling without slipping, the rolling friction gymnastics. We can measure the
force is much less than the friction force when the object is sliding; a sil- body’s moment of inertia in a
ver dollar will roll on its edge much farther than it will slide on its flat side particular position while a per-
(see Section 5.3). When an object is rolling without slipping on a horizon- son remains in that position on a
tal surface, we can approximate the friction force to be zero, so that ax horizontal turntable, with the body’s
and az are approximately zero and vx and vz are approximately constant. center of mass on the turntable’s ro-
Rolling without slipping means vx = rvz and ax = raz . If an object is set tational axis. The turntable with the
in motion on a surface without these equalities, sliding (kinetic) friction person on it is then accelerated from
will act on the object as it slips until rolling without slipping is estab- rest by a torque that is produced by
lished. A solid cylinder with mass M and radius R, rotating with angular using a rope wound around a pulley
speed v0 about an axis through its center, is set on a horizontal surface on the shaft of the turntable. From
the measured tension in the rope and Overhead view of a female
for which the kinetic friction coefficient is mk. (a) Draw a free-body dia- gymnast lying in somersault
gram for the cylinder on the surface. Think carefully about the direction the angular acceleration, we can cal-
position atop a turntable
of the kinetic friction force on the cylinder. Calculate the accelerations ax culate the body’s moment of inertia
of the center of mass and az of rotation about the center of mass. (b) The about an axis through its center of mass.
cylinder is initially slipping completely, so initially vz = v0 but vx = 0. 10.94 The moment of inertia of the empty turntable is 1.5 kg # m2.
Rolling without slipping sets in when vx = rvz . Calculate the distance With a constant torque of 2.5 N # m, the turntable–person system takes
the cylinder rolls before slipping stops. (c) Calculate the work done by the 3.0 s to spin from rest to an angular speed of 1.0 rad>s. What is the
friction force on the cylinder as it moves from where it was set down to person’s moment of inertia about an axis through her center of mass?
where it begins to roll without slipping. Ignore friction in the turntable axle. (a) 2.5 kg # m2; (b) 6.0 kg # m2;
10.93 ••• A demonstration gyroscope wheel is constructed by remov- (c) 7.5 kg # m2; (d) 9.0 kg # m2.
ing the tire from a bicycle wheel 0.650 m in diameter, wrapping lead 10.95 While the turntable is being accelerated, the person suddenly
wire around the rim, and taping it in place. The shaft projects 0.200 m extends her legs. What happens to the turntable? (a) It suddenly speeds
at each side of the wheel, and a woman holds the ends of the shaft in up; (b) it rotates with constant speed; (c) its acceleration decreases;
her hands. The mass of the system is 8.00 kg; its entire mass may be as- (d) it suddenly stops rotating.
sumed to be located at its rim. The shaft is horizontal, and the wheel is 10.96 A doubling of the torque produces a greater angular accelera-
spinning about the shaft at 5.00 rev>s. Find the magnitude and direction tion. Which of the following would do this, assuming that the tension in
of the force each hand exerts on the shaft (a) when the shaft is at rest; the rope doesn’t change? (a) Increasing the pulley diameter by a factor
(b) when the shaft is rotating in a horizontal plane about its center at of 12; (b) increasing the pulley diameter by a factor of 2; (c) increasing
0.050 rev>s; (c) when the shaft is rotating in a horizontal plane about its the pulley diameter by a factor of 4; (d) decreasing the pulley diameter
center at 0.300 rev>s. (d) At what rate must the shaft rotate in order that by a factor of 12.
it may be supported at one end only? 10.97 If the body’s center of mass were not placed on the rotational
axis of the turntable, how would the person’s measured moment of in-
ertia compare to the moment of inertia for rotation about the center of
MCAT-STYLE PASSAGE PROBLEMS mass? (a) The measured moment of inertia would be too large; (b) the
BIO Human Moment of Inertia. The moment of inertia of the measured moment of inertia would be too small; (c) the two moments
human body about an axis through its center of mass is ­important of inertia would be the same; (d) it depends on where the body’s center
in the application of biomechanics to sports such as diving and of mass is placed relative to the center of the turntable.

ANSWERS

Chapter Opening Question ?

(iv) A tossed pin rotates around its center of mass (which is located VP10.7.2 (a) acm@x = 35 g sinb (b) f = 2
5 Mg sinb (c) t = 25 MgR sinb
toward its thick end). This is also the point at which the gravitational 4g
VP10.7.3 (a) acm = 13 g, downward (b) az = 3R
force acts on the pin, so this force exerts no torque on the pin. Hence
1
the pin rotates with constant angular momentum, and its angular speed VP10.7.4 (a) f = 3 Mg sinb (b) bcritical = arctan 3ms
remains the same. VP10.12.1 (a) 9
(b) 81 = 0.953
10 vA 85
7 49
Key Example ARIATION Problems VP10.12.2 (a) v
10 A (b) 85 = 0.576
VP10.3.1 (a) 10 rad>s (b) 0.90 N # m (c) 15 N
2
VP10.12.3 (a) 0.80 rad>s (b) 0.0020 = 1>500
g mg Mg 3v
VP10.3.2 (a) ay = (b) T = = VP10.12.4 (a) MRv before, MRv>2 after (b) v = (c) 58
1 + M>m 1 + m>M 1 + M>m 4R
g Bridging Problem
VP10.3.3 (a) T = m1g - a2 (b) I = mR2 a - 1b
a 2R
(a) h =
VP10.3.4 (a) T = m1g + a2 (b) tcable on cylinder = mR1g + a2 5
(c) tmotor on cylinder = mR1g + a2 + 12 MRa (b) 57 of the speed it had just after the hit
8 5
VP10.7.1 (a) acm@y = 13 g (b) T = 13 Mg