Lecture 29: Rotational Work & Power

PHYS-2310 – Spring 2025

Introduction to Classical Physics I
Dr. James R. Zabel ([email protected]) April 14th , 2025
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Outline
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1 Rolling Motion – Continued

Conditions Necessary for Motion without Slipping
Example – Cylinder Rolling Down an Incline
Example – Cylinder with Peg Rolling Down an Incline
Example – A Sphere Rolling Down an Incline
Example – Loop-the-loop… again…

2 Work & Power in Rotational Motion

Example – Rotational Power (Aircraft Torque)

3 Work-KE Theorem for Rotational Motion

Examples – Rotational Work-KE Theorem

Dr. James R. Zabel, Iowa State University Rotational Work & Power 1/34
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− Conditions Necessary for Motion without Slipping
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What is the condition for no slipping during rolling motion?
Apply Newton’s 2nd Law to the linear motion of the rolling disk,
X #–
F = M #– a ⇒ CMF − f = Ma app s CM

Now, apply Newton’s 2nd Law for rotational motion to the rolling disk,
X #– #– :1

τ = Iα ⇒ Rf  θ
sin = Iα s

Since we seek a situation where the disk is not slipping, then we also have the following
relationship,
a = Rα
This results in the following system of three equations with three unknowns (fs , a, and α),
 
Fapp − fs = M a a

 apply α = Fapp − fs = M a

 
Rfs = Iα =========R =⇒ a

 Rfs = I 

a = Rα 
R
Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 2/34
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− Conditions Necessary for Motion without Slipping
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What is the condition for no slipping during rolling motion?
Solve the second equation for fs and apply it to the first to find an expression for the
acceleration,
  
a
Fapp − I = Ma
R2 ! !
 
I 1 R2
M + 2 a = Fapp ⇒ a = Fapp = Fapp
R M + RI2 M R2 + I

Apply this acceleration to find an expression for fs ,

" !#
R2
Fapp − fs = M Fapp
M R2 + I
! !  
R2 M R2 I
fs = Fapp − M Fapp = Fapp 1 − = Fapp
M R2 + I M R2 + I M R2 + I

Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 3/34
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− Conditions Necessary for Motion without Slipping
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What is the condition for no slipping during rolling motion?
As well, from the definition of static friction,
 
fs ≤ µs N = µs M g i.e. just before the system begins to slide

Equate these two expressions for fs and solve for the coefficient of static friction,
 
I
µs M g ≥ Fapp
M R2 + I
 
Fapp I
µs ≥
M g M R2 + I

Thus, if the coefficient of static friction is sufficiently large, then the disk will not slide as
it moves across the surface.

Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 4/34
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− Top Hat: Figuring Out Friction
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Top Hat Access Code: 612654
Cylinder 1 is released from rest on an inclined plane and rolls down without slipping.
Cylinder 2 has an initial angular speed at the bottom of the ramp with no linear speed and
starts rolling up the inclined plane, again without slipping.
What is the direction of the force of static friction in each case?
A: B: C: D:

Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 5/34
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− Top Hat: Figuring Out Friction
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Top Hat Access Code: 612654
Cylinder 1 is released from rest on an inclined plane and rolls down without slipping.
Cylinder 2 has an initial angular speed at the bottom of the ramp with no linear speed and
starts rolling up the inclined plane, again without slipping.
What is the direction of the force of static friction in each case?
A: B: C: D:

Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 5/34
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− Top Hat: Figuring Out Friction
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There are two techniques you can use to determine the direction of fs
Friction must oppose the relative motion.
Therefore, consider how the cylinders would move in the absence of friction.
Cylinder 1 would slide down (with no rotation)… So the relative velocity is down the plane.
This would result in kinetic friction pointing up the plane.
Cylinder 2 would rotate at the base of the incline without going up… This, too, results in
a relavitve velocity down the plane. So, again, kinetic friction points up the plane.

Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 6/34
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− Top Hat: Figuring Out Friction
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There are two techniques you can use to determine the direction of fs
Instead, consider the torques required to cause rotational motion.
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Gravity and the normal force act on both cylinders. However, neither produce a torque; Fg acts through the
#–
center of mass (thus r = 0), and N points through the axis of rotation (so the lever arm is zero).
To generate rotational motion, both cylinders must experience an angular acceleration; α1 is clockwise causing
ω1 to speed up, α2 is also clockwise causing ω2 to slow down.
There must be some forces
that generate these torques
resulting in the required
angular accelerations, i.e.
the force of friction, which
must point upwards for
both cylinders.

Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 7/34
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Example – Cylinder Rolling Down an Incline
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A cylinder of mass M and radius R rolls down an incline of angle θ with the horizontal.
If the cylinder rolls without slipping, then what is its acceleration?

Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 8/34
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Example – Cylinder Rolling Down an Incline
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Identify the forces acting on the cylinder; the force of gravity acting directly downward, the
normal force perpendicular to the surface of the incline, and the force of static friction acting
up along the plane.

Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 9/34
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Example – Cylinder Rolling Down an Incline
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Apply Newton’s 2nd Law for linear motion to the forces acting on the cylinder,
X #–
F = M #– aCM ⇒ M g sin θ − fs = M aCM
Apply Newton’s 2nd Law for rotational motion to the forces creating torques on the
cylinder (noting the clockwise rotation, i.e. negative α),
X #– #–
τ = Iα ⇒ −Rfs = −Iα
Since the cylinder rolls without slipping then,
a = Rα
This results in the following system of three equations with three unknowns (fs , a, and α),
 
M g sin θ − fs = M aCM  aCM

 apply α = M g sin θ − fs = M aCM  
R=⇒  
Rfs = Iα ========== a

 Rfs = I
CM 

a = Rα 
R
Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 10/34
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Example – Cylinder Rolling Down an Incline
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Solve the second equation for fs and substitute into the first, and solve for aCM ,
 
aCM
M g sin θ − I = M aCM

R2 
aCM
M aCM + I = M g sin θ
R2
 
I M g sin θ g sin θ
M + 2 aCM = M g sin θ ⇒ aCM = I
=
R M + R2 1 + MIR2
The moment of inertia for a solid cylinder is Idisk = 12 M R2 ; apply this to the result and
simplify,
g sin θ g sin θ 2
aCM = 1 
M R 2 = 1
= g sin θ
1 + 22 1+ 2 3
MR

This acceleration is less than the result for a sliding object (a = g sin θ)!
Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 11/34
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Example – Cylinder with Peg Rolling Down an Incline
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What if we use a disk of radius R and mass M that is mounted on a massless shaft of radius
r ≪ R and have the whole thing roll down an incline with a groove?
The forces acting on the cylinder are the same, but now the torque due to friction acts at a
distance r from the rotational axis.

Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 12/34
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Example – Cylinder with Peg Rolling Down an Incline
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The only change to our system of equation is replacing R with r in the torque expression,

M g sin θ − fs = M aCM 

rfs = Iα



(send R → r) ⇒ a = rα
Therefore, our result is the same (before the simplification),
g sin θ
aCM =
1 + MIr2
Now apply the moment of inertia and simplify,
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g sin θ g sin θ 1
aCM = = = g sin θ
1 + 2 2
1
MR 2 R2 R2
1 + 2r 1 + 2r

2 2
Mr

Since r ≪ R then the ratio in parentheses is quite small and the system will accelerate
very slowly.
Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 13/34
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Example – A Sphere Rolling Down an Incline
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If the sphere rolls without slipping, then what is the acceleration?

Let’s take a different approach by finding the velocity at the bottom at the bottom of the
incline first.
Therefore, we can apply the principal of
conservation of mechanical energy,
Ui + KEi = Uf + KEf

Let U = 0 at the bottom of the plane,

therefore Uf = 0.
Initially, the sphere is at the top of the plane,
therefore Ui = M gh.
Initially, the sphere is at rest, thus vCMi = 0,
and therefore KEi = 0.
Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 14/34
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Example – A Sphere Rolling Down an Incline
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The final kinetic energy is given by the sum of the rotational and translational kinetic
energies,
1 2 1
KEf = KEtr + KErot = M vCM + Iω 2
2 2
v
Since ω = (i.e. no slipping), then this becomes,
R
 
1 2 1 vCM 2
KEf = M vCM + I
2 2 R

Substituting these expressions into the conservation of energy equation yields,

 
1 2 1 I
M vCM + v 2 = M gh
2 2 R2 CM

Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 15/34
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Example – A Sphere Rolling Down an Incline
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Solving for vCM yields,

 
I 2
+ M vCM = 2M gh
R2
 
I
M
 + 1 2
vCM = 2
Mgh
M R2
 
I 2
+ 1 vCM = 2gh
MR 2
v
2gh u 2gh
u
2
vCM = ⇒ vCM = u
t
I I
1+ 1+
M R2 M R2

Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 16/34
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Example – A Sphere Rolling Down an Incline
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Since the moment of inertia of a sphere is Isph = 25 M R2 , then,

v s s r
u
u 2gh 2gh 2gh 10
=u
R
vCM = = = gh
t 2
M
 2
1 + 25 7
7
1+ 5  5
M R
 2

From the geometry, h = x sin θ; therefore,

r
10 10
vCM = gx sin θ ⇒ 2
vCM = gx sin θ
7 7
Recall one of our favorite kinematic equations, vf2 = vi2 + 2ad. Use this equation to solve
for the acceleration (noting that vi = 0 and d = x),
2
vCM = 2aCM d
10 5
g
x sin θ = 2aCM
x ⇒ aCM = g sin θ
7 7
Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 17/34
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− Top Hat: Rolling Race Down an Incline
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Top Hat Access Code: 612654
A solid uniform cylinder, a hollow cylinder, and a solid uniform sphere, all of mass M and
radius R, are simultaneously released from rest at the top of an incline. They roll without
slipping down the incline.
Which object gets to the bottom first?
A: the solid cylinder
B: the hollow cylinder
C: the solid sphere
D: All objects reach the bottom at the same time.

Note: the moments of inertia of these objects are,

1 2
Icyl = M R2 Ihollow cyl = M R2 Isph = M R2
2 5

Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 18/34
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− Top Hat: Rolling Race Down an Incline
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Top Hat Access Code: 612654
A solid uniform cylinder, a hollow cylinder, and a solid uniform sphere, all of mass M and
radius R, are simultaneously released from rest at the top of an incline. They roll without
slipping down the incline.
Which object gets to the bottom first?
A: the solid cylinder
B: the hollow cylinder
C: the solid sphere
D: All objects reach the bottom at the same time.

Note: the moments of inertia of these objects are,

1 2
Icyl = M R2 Ihollow cyl = M R2 Isph = M R2
2 5

Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 18/34
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Top Hat: Rolling Race Down an Incline
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A solid uniform cylinder, a hollow cylinder, and a solid uniform sphere, all of mass M and
radius R, are simultaneously released from rest at the top of an incline. They roll without
slipping down the incline.
Which object gets to the bottom first?
C: the solid sphere
For many objects, the moment of inertia can be expressed as,
I = γM R2
where γ is a positive number less than (or equal to) one. Thus far, we’ve shown that,
v s
u
u 2gh 2gh g sin θ g sin θ
vCM = t = and aCM = =
1 + MIR2 1+γ I
1 + M R2 1+γ
Therefore, the object with the smallest “γ factor,” i.e. the sphere, will have the largest
acceleration resulting in the largest final velocity; and thus will win the race.
Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 19/34
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Top Hat: Rolling Race Down an Incline
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A solid uniform cylinder, a hollow cylinder, and a solid uniform sphere, all of mass M and
radius R, are simultaneously released from rest at the top of an incline. They roll without
slipping down the incline.
Which object gets to the bottom first?
C: the solid sphere

Note how the mass and radius don’t matter!

Qualitatively, the same total energy from the initial state will be used to gain both
translational and rotational energy in the final state. If the object has a lower moment of
inertia then it requires less rotational energy, leaving more for translational motion, which
results in a higher speed.
Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 20/34
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Example – Loop-the-loop… again…
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marble of radius r

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A cart is released from rest at a height h on a roller coaster with a loop of radius R.
What is the minimum height h required to keep it on the track throughout the loop?
For a sliding cart (without friction), we found the minimum height required to be,
5
hmin = R
2
You may recall that, when releasing
a marble at this height, it wasn’t
quite enough speed… we had to
release it from a bit higher.
We return to this example as we now
need to also include rotational
kinetic energy!

Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 21/34
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Example – Loop-the-loop… again…
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Point B remains the toughest point. In order not to fall (i.e., to maintain a circular trajec-
tory), the forces at B must provide the appropriate radial acceleration. Identify the forces
at B (normal X
and gravitational), and apply Newton’s 2nd Law for radial motion,
Fr = mac
v2
N + mg = m
R
The minimum velocity required
occurs when N = 0,
0

v2
N + mg = m min
R
2
vmin
 =
mg 
m
q R
vmin = gR
Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 22/34
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Example – Loop-the-loop… again…
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Now, determine the speed at point B by applying the conservation of mechanical energy.
However, this time include the rotational kinetic energy of the marble,
MEi = MEf

* 0
Ui + 
KE i = Uf + KEtrf + KErotf
1 1
mgh = mg(2R) + mvf2 + Iω 2
2 2 ! !
1 2 1 2
2 vf2

mgh = 2
mgR +   +
mv 
m R
2 f 2
5 R2

1 1
gh = 2gR + vf2 + vf2
2 5 s
7 2 10  
g(h − 2R) = vf ⇒ vf = g(h − 2R)
10 7
Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 23/34
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Example – Loop-the-loop… again…
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Equate the minimum velocity for circular motion to the velocity resulting from the height.
Doing so results in an expression for the minimum height,
vmin = vf
s
q 10  
gR = g(hmin − 2R)
7
10  
gR =
 g(hmin − 2R)
7
7R = 10hmin − 20R
10hmin = 27R
hmin = 2.7R
Without rotational kinetic energy,
we found hmin = 2.5R.
Dr. James R. Zabel, Iowa State University Rotational Work & Power Rolling Motion – Continued 24/34
Rotational Work & Power
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Work in Rotational Motion
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#–
The work done by a force F acting on an object
as it rotates through an infinitesimal distance
ds = r dθ is,
#– #–
dW = F • d #–s = ∥ F∥·∥d #–
s ∥ cos(90◦ − ϕ)
= F ds sin ϕ = F r dθ sin ϕ

The radial component of the force does no work

because it is perpendicular to the displacement.
Since the magnitude of the torque is given by,
τ = rF sin ϕ

Then the differential work done becomes,

dW = τ dθ
Dr. James R. Zabel, Iowa State University Rotational Work & Power Work & Power in Rotational Motion 25/34
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Work in Rotational Motion
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If the force acts on the object as it rotates from θi

to θf , then the total work is found from the
integral,
ˆ θf
W = τ dθ
θi

If the torque is constant as the object moves

between these two angles then the work becomes,
ˆ θf
W =τ dθ = τ (θf − θi ) = τ ∆θ
θi

Dr. James R. Zabel, Iowa State University Rotational Work & Power Work & Power in Rotational Motion 26/34
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Power in Rotational Motion
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The average power, or rate at which work is being done in a time interval ∆t, is,
!
W τ ∆θ ∆θ
Pavg = = =τ = τω
∆t ∆t ∆t
The instantaneous power, or rate at which work is being done in a time interval dt, is,
dW dθ
P = =τ = τω
dt dt
This is analogous to P = F v in a linear system.
Important: these expressions are only true for pure rotations (with a fixed axis of rotation,
or in the frame of reference where the axis is at rest).
Otherwise, the path by the point where the force is applied is not a circle, as
assumed in the previous slides!
Dr. James R. Zabel, Iowa State University Rotational Work & Power Work & Power in Rotational Motion 27/34
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Example – Rotational Power (Aircraft Torque)
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The engine of an aircraft propeller delivers 170 hp (a measure of power) to the propeller at
a rotational speed of 2000 rpm.
How much torque does the aircraft engine provide?

Begin by converting the power from hp to W and the rotational speed from rpm to rad/s,
170 hp 746 W
P = · = 126 820 W = 1.268 × 105 W
1 hp
2000 rev 2π rad 1 min
ω= · · = 209.4 rad/s
1 min 1 rev 60 s

Now, solve the relationship between power and torque for the torque,
P 1.268 × 105 W
P = τω ⇒ τ= = = 605.52 N m
ω 209.4 rad/s

Dr. James R. Zabel, Iowa State University Rotational Work & Power Work & Power in Rotational Motion 28/34
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Example – Rotational Power (Aircraft Torque)
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The engine of an aircraft propeller delivers 170 hp (a measure of power) to the propeller at
a rotational speed of 2000 rpm.
How much work does the engine do in one revolution of the propeller?
Presuming the torque applied is constant over one revolution, then the work done is,
W = τ ∆θ = (605.52 N m)·(2π rad) = 3804.6 J = 3805 J

Dr. James R. Zabel, Iowa State University Rotational Work & Power Work & Power in Rotational Motion 29/34
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Work-KE Theorem for Rotational Motion
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Since,
X dω dω dθ dω
τext = Iα = I =I =I ω
dt dθ dt dθ
and,
X
dW = τext dθ
Then,
X
τext dθ = dW = Iω dω
The work-kinetic energy theorem for rotational motion states that the net work done by
external forces in rotating a symmetrical rigid object about a fixed axis equals the change in
the object’s rotational kinetic energy,
ˆ ωf ˆ ωf " ωf #
ω2 1 1
W = Iω dω = I ω dω = I = Iωf2 − Iωi2 = ∆KErot
ωi ωi 2 ωi 2 2
Dr. James R. Zabel, Iowa State University Rotational Work & Power Work-KE Theorem for Rotational Motion 30/34
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− Work-KE Theorem
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General
The rotational form can be combined with the linear form which indicates the net work
done by external forces on an object is the change in its total kinetic energy, which is the
sum of the translational and rotational kinetic energies.
W = ∆KE = ∆KEtr + ∆KErot
   
= KEtrf − KEtri + KErotf − KEroti
   
1 2 1 2 1 2 1 2
= mv − mv + Iω − Iω
2 CMf 2 CMi 2 f 2 i

Dr. James R. Zabel, Iowa State University Rotational Work & Power Work-KE Theorem for Rotational Motion 31/34
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Example – Final Velocity of Merry-go-round
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A constant tangential force F = 100 N is applied to the edge of a merry-go-round of radius

R = 2.0 m and moment of inertia I = 300 kg m2 .
If it starts from rest, what is the angular speed after it completes one revolution?
First, determine the work done (noting a constant
◦
force produces a constant torque),
 
90
:1

W = τ ∆θ = RF


sin
ϕ ∆θ = RF 
sin(90 ◦
)∆θ = RF ∆θ
Apply this to the Work-KE theorem and solve for ωf ,
*0 1

W = ∆KErot = KErotf −  KEroti = Iωf2 − 0
s s
2
2RF ∆θ 2(2.0 m)·(100 N)·(2π rad)
ωf = =
I 300 kg m2
= 2.8944 rad/s = 2.9 rad/s
Dr. James R. Zabel, Iowa State University Rotational Work & Power Work-KE Theorem for Rotational Motion 32/34
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Example – Work Due to Friction
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A uniform flywheel moving at 600 rpm comes to a stop after 1000 rev, due to friction in the
shaft mounting. What is the average frictional torque?
First, convert the initial angular velocity from rpm to rad/s,
600 rev 1 min 2π rad
ωi = · · = 20π rad
1 min 60 s 1 rev
Now, determine the moment of inertia (noting it is a
solid disk),
1 1 2
I = M R2 = (10 kg)·(1.0 m) = 5.0 kg m2
2 2
The average torque is found from the expression for
work,
W
W = τ ∆θ ⇒ τ=
∆θ
Dr. James R. Zabel, Iowa State University Rotational Work & Power Work-KE Theorem for Rotational Motion 33/34
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Example – Work Due to Friction
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The work is found from the Work-KE theorem,

W = ∆KErot = 
KE 
*0
rot
1
− KEroti = − Iωi2
f
2

Finally, put all of this together to find the average torque,

− 12 Iωi2
2
W (5.0 kg m2 )·(20π rad)
τ= = =− = −0.5π N m = −1.6 N m
∆θ ∆θ 2(20 00π rad)

Dr. James R. Zabel, Iowa State University Rotational Work & Power Work-KE Theorem for Rotational Motion 34/34