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Lecture 11

The document covers concepts of angular momentum and torque in physics, detailing how torque is calculated as a cross product of force and position vectors. It explains the relationship between linear and angular momentum, including calculations for angular momentum of rigid bodies and systems of particles. Additionally, it discusses the conservation of angular momentum in isolated systems and provides examples to illustrate these principles.

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0% found this document useful (0 votes)
0 views53 pages

Lecture 11

The document covers concepts of angular momentum and torque in physics, detailing how torque is calculated as a cross product of force and position vectors. It explains the relationship between linear and angular momentum, including calculations for angular momentum of rigid bodies and systems of particles. Additionally, it discusses the conservation of angular momentum in isolated systems and provides examples to illustrate these principles.

Uploaded by

alper26onder
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Physics 101

Lecture 11
Angular Momentum
Assoc. Prof. Dr. Ali ÖVGÜN
EMU Physics Department
Angular Momentum
❑ Torque using vectors
❑ Angular Momentum

December 18, 2024


Torque as a Cross Product
   ❑ The torque is the cross product of a force
 = r F vector with the position vector to its point
of application
 = rF sin  = r⊥ F = r F⊥
❑ The torque vector is perpendicular to the
plane formed by the position vector and
the force vector (e.g., imagine drawing
them tail-to-tail)
❑ Right Hand Rule: curl fingers from r to F,
thumb points along torque.
Superposition:
   
 net =  i =  ri  Fi (vector sum)
all i all i
❑ Can have multiple forces applied at multiple
points.
❑ Direction of net is angular acceleration axis
December 18, 2024
Net torque example: multiple forces at a single point z
F2
3 forces applied at point r : 

r  r cos  ˆi + 0 ˆj + r sin  kˆ
F1
F3
 
F1 = 2 ˆi; F2 = 2 kˆ ; F3 = 2 ˆj; r = 3;  = 30 o r
y

Find the net torque about the origin:


τ net = r  Fnet = r  ( F1 + F2 + F3 ) x

rx  rsin() = 3sin(30 o ) = 1.5


= (r ˆi + r kˆ )  (2ˆi + 2ˆj + 2kˆ )
set
x z rz  rcos( ) = 3cos(30 o ) = 2.6

= 2rx ˆi × ˆi + 2rx ˆi × ˆj + 2rx ˆi × kˆ + 2rz kˆ × ˆi + 2rz kˆ × ˆj + 2rz kˆ × kˆ


τ net = 0 + 2r kˆ + 2r (−)ˆj + 2r ˆj + 2r (−)ˆi + 0
x x z z i
= −3ˆi − 2.2ˆj + 5.2kˆ
oblique rotation axis
 τ net through origin
j k
Here all forces were applied at the same point.
For forces applied at different points, first calculate
the individual torques, then add them as vectors,
i.e., use:    
net =  i =  ri  Fi (vector sum)
December 18, 2024
all i all i
December 18, 2024
December 18, 2024
Angular Momentum
❑ Same basic techniques that were used in linear
motion can be applied to rotational motion.
◼ F becomes 
◼ m becomes I
◼ a becomes 
◼ v becomes ω
◼ x becomes θ
❑ Linear momentum defined as p = mv
❑ What if mass of center of object is not moving,
but it is rotating?
❑ Angular momentum L = Iω
December 18, 2024
Angular Momentum I
❑ Angular momentum of a rotating rigid object

L = Iω



L
◼ L has the same direction as  *
◼ L is positive when object rotates in CCW
◼ L is negative when object rotates in CW
❑ Angular momentum SI unit: kg-m2/s
Calculate L of a 10 kg disk when  = 320 rad/s, R = 9 cm = 0.09 m
L = I and I = MR2/2 for disk
L = 1/2MR2 = ½(10)(0.09)2(320) = 12.96 kgm2/s
*When rotation is about a principal axis

December 18, 2024


Angular Momentum II
❑ Angular momentum of a particle
L = I = mr 2 = mv⊥ r = mvr sin  = rp sin 
❑ Angular momentum of a particle

L = r × p = m(r × v )

◼ r is the particle’s instantaneous position vector


◼ p is its instantaneous linear momentum
◼ Only tangential momentum component contribute
◼ Mentally place r and p tail to tail form a plane, L is
perpendicular to this plane
December 18, 2024
Angular Momentum of a Particle in
Uniform Circular Motion
Example: A particle moves in the xy plane in a circular
path of radius r. Find the magnitude and direction of its
angular momentum relative to an axis through O when its
velocity is v.
❑ The angular momentum vector
points out of the diagram
❑ The magnitude is
L = rp sin = mvr sin(90o) = mvr
❑ A particle in uniform circular motion O

has a constant angular momentum


about an axis through the center of
its path
December 18, 2024
Angular momentum III
❑ Angular momentum of a system of particles
L net = L1 + L 2 + ... + L n =  Li =  ri  pi
all i all i

◼ angular momenta add as vectors


◼ be careful of sign of each angular momentum

for this case:

L net = L1 + L 2 = r1  p1 + r2  p 2
L net = + r⊥1 p1 − r⊥2 p 2

December 18, 2024


Example: calculating angular momentum for particles

Two objects are moving as shown in the figure .


What is their total angular momentum about point
O?
L net = L1 + L 2 = r1  p1 + r2  p 2 m2

Lnet = r1mv1 sin 1 − r2 mv2 sin  2


= r1mv1 − r2 mv2
= 2.8  3.1 3.6 − 1.5  6.5  2.2
= 31.25 − 21.45 = 9.8 kg m 2 /s m1
Direction of L is out of screen.
December 18, 2024
Recall: Linear Momentum
and Force
❑ Linear motion: apply force to a mass
❑ The force causes the linear momentum to change
❑ The net force acting on a body is the time rate of
change of its linear momentum
dv dp
Fnet = F = ma = m =
dt dt
p = mv
I=L Fnet t = p
 =
t December 18, 2024
Angular Momentum and Torque
❑ Rotational motion: apply torque to a rigid body
❑ The torque causes the angular momentum to change
❑ The net torque acting on a body is the time rate of
change of its angular momentum

dp dL
Fnet = F = τ net = τ =
dt dt

❑ τ and L are to be measured about the same origin


❑ The origin must not be accelerating (must be an
inertial frame)
December 18, 2024
Demonstration
 
  dp   dL
Fnet = F =  net =  =
dt dt

❑ Start from dL = d (r  p ) = m d (r  v )
dt dt dt
❑ Expand using derivative chain rule
  
d    dr   dv     
= m (r  v ) = m   v + r   = mv  v + r  a 
dL
dt dt  dt dt 

          
= mv  v + r  a  = mr  a = r  (ma ) = r  Fnet =  net
dL
dt
December 18, 2024
What about SYSTEMS of Rigid

Bodies?
 dL i
Rotational 2 law for a single body : i =
nd

dt
Total angular momentum   • individual
of a system of bodies: Lsys =  L i • all about sameangular momenta Li
origin
 
dLsys dLi  • i = net torque on particle “i”
 = =  i • internal torque pairs are
dt dt i included in sum

BUT… internal torques in the sum cancel in Newton 3rd law


pairs. Only External Torques contribute to Lsys

dLsys  
=  i ,ext =  net net external torque on the system
dt i

Nonisolated System: If a system interacts with its environment in the


sense that there is an external torque on the system, the net external
torque acting on a system is equal to the time rate of change of its
angular momentum.
December 18, 2024
Example: A Non-isolated System

A sphere mass m1 and a block a
of mass m2 are connected by a
light cord that passes over a
pulley. The radius of the pulley
is R, and the mass of the thin
rim is M. The spokes of the 
a
pulley have negligible mass.
The block slides on a
frictionless, horizontal surface.
Find an expression for the
linear acceleration of the two
objects.   ext = m1 gR

December 18, 2024



a
Masses are connected by a light cord. Find the
linear acceleration a.
• Use angular momentum approach I
• No friction between m2 and table
• Treat block, pulley and sphere as a non-
isolated system rotating about pulley axis. 
a
As sphere falls, pulley rotates, block slides
• Constraints:
Equal v's and a's for block and sphere
v = ωR for pulley α = d  / dt
a = αR = dv / dt
• Ignore internal forces, consider external forces only
• Net external torque on system:  net = m1 gR about center of wheel
• Angular momentum of system: Lsys = m1vR + m2 vR + Iω = m1vR + m2 vR + MR 2 ω
(not constant)
dLsys
= m1aR + m2 aR + MR 2 α = (m1 R + m2 R + MR)a = τ net = m1 gR
dt
m1 g same result followed from earlier
a =
M + m1 + m2 method using 3 FBD’s & 2nd law
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Isolated System
❑ Isolated system: net external torque acting on
a system is ZERO
◼ no external forces
◼ net external force acting on a system is ZERO

dLtot
 τ ext = =0
dt

Ltot = constant or Li = L f

December 18, 2024


Angular Momentum Conservation
Ltot = constant or Li = L f

❑ Here i denotes initial state, f is the final state


❑ L is conserved separately for x, y, z direction
❑ For an isolated system consisting of particles,

Ltot =  L n = L1 + L 2 + L 3 + = constant

❑ For an isolated system that is deformable


I ii = I f  f = constant
December 18, 2024
December 18, 2024
Example
❑ A puck of mass m = 0.5 kg is
attached to a taut cord passing
through a small hole in a
frictionless, horizontal surface. The
puck is initially orbiting with speed
vi = 2 m/s in a circle of radius ri
= 0.2 m. The cord is then slowly
pulled from below, decreasing the
radius of the circle to r = 0.1 m.
❑ What is the puck’s speed at the
smaller radius?
❑ Find the tension in the cord at the
smaller radius.
December 18, 2024
Angular Momentum Conservation
❑ m = 0.5 kg, vi = 2 m/s, ri =
0.2 m, rf = 0.1 m, vf = ?
❑ Isolated system?
❑ Tension force on m exert zero
torque about hole, why?

Li = L f L = r  p = r  (mv )

Li = mri vi sin 90 = mri vi L f = mrf v f sin 90 = mrf v f


ri 0.2 v 2f 42
v f = vi = 2 = 4 m/s T = mac = m = 0.5 = 80 N
rf 0.1 rf 0 .1
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Isolated
System

 
τ net = 0 about z - axis  L = constant

L= I ω
initial
i i = I
final
f ωf Moment of inertia
changes

December 18, 2024


Controlling spin () by changing I (moment of inertia)

In the air, net = 0


L is constant

L = I ii = I f  f
Change I by curling up or stretching out
- spin rate  must adjust

Moment of inertia changes

December 18, 2024


Example: A merry-go-round problem

A 40-kg child running at 4.0


m/s jumps tangentially onto a
stationary circular merry-go-
round platform whose radius is
2.0 m and whose moment of
inertia is 20 kg-m2. There is
no friction.

Find the angular velocity of


the platform after the child
has jumped on.

December 18, 2024


The Merry-Go-Round
❑ The moment of inertia of the
system = the moment of
inertia of the platform plus the
moment of inertia of the
person.
◼ Assume the person can be
treated as a particle
❑ As the person moves toward
the center of the rotating
platform the moment of inertia
decreases.
❑ The angular speed must
increase since the angular
momentum is constant.

December 18, 2024


Solution: A merry-go-round problem

Ltot =  I i ωi = I f ωf

Li = I ii = I0 + mc vT r = mc vT r

L f = I f ω f = ( I + mc r 2 )ω f
I = 20 kg.m2
VT = 4.0 m/s ( I + mc r 2 )ω f = mc vT r
mc = 40 kg
r = 2.0 m mc vT r 40  4  2
0 = 0 ωf = = = 1.78 rad/s
I + mc r 2
10 + 40  2 2

December 18, 2024


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