Chapter10_Dynamics of Rotational Motion2e
Chapter10_Dynamics of Rotational Motion2e
Chapter 10
Outline
1. Angular Velocity & Acceleration Vectors
2. Torque & the Vector Cross Product
3. Rolling Motion and Energy Conservation
4. Angular Momentum
5. Conservation of Angular Momentum
6. Gyroscopes & Precession
1
1/4/2022
Importance of rotation:
• Earth’s rotational axis seasons.
• Angular momentum of protons in living tissues MRI
• Rotating air tornadoes.
• Rotating wheel stabilizes bicycle.
Learning Outcomes
In this chapter, you’ll learn…
• what is meant by the torque produced by a force.
• how the net torque on an object affects the object’s
rotational motion.
• how to analyze the motion of an object that both rotates
and moves as a whole through space.
• how to solve problems that involve work and power for
rotating objects.
• how the angular momentum of an object can remain
constant even if the object changes shape.
Copyright © 2020 Pearson Education Ltd. All Rights Reserved
2
1/4/2022
Introduction
Torque
• The line of action of a force is the line
along which the force vector lies.
3
1/4/2022
τr
τF
τ (r , F) plane
τ r F r F ˆ rF sin ˆ
τ r F r F ˆ rF sin ˆ
τr
τF
τ (r , F) plane
4
1/4/2022
1
z RT I cm z
2
MR 2 z
1 g
mg Ma y ma y a y
2 1 M / 2m
mg
T mg ma y T
1 2m / M
5
1/4/2022
grav
Mg L 3g
1
2
1
I 3
ML2 2L
L 3g 3
At t=0: acm cent rcm 2 rcm 0 0
2
acm tang rcm 4g
2 2L
I cm 12 MR 2 ; RT
2T
T 1
2
MR 1
2
Ma
I cm MR
mg T ma; T m( g a )
1
2
Ma m ( g a )
g
a (9.81 m/s2 ) / [1 (0.816 kg) / 2(2.54 kg)]
1 M / 2m
8.45 m/s2 1 2
h 2 at 2 (8.45 m/s 2 )(1.80 s) 2 13.7 m
1
a / R 78.3 radians/s 2
6
1/4/2022
L /2 x
Icm r 2dm x 2 (1 ) dx
L /2 L
M x 3 x 4 L /2
|L /2
L 3 4L
M L3 L4 M L3 L4
L 24 96L L 24 96L
M L3 ML2
2
L 24 12
ML2
IP Icm Md 2 Md 2
12
© 2016 Pearson Education, Ltd.
7
1/4/2022
v r vcm R
acm R s R
K 12 mvcm
2
12 I cm 2
• This is true as long as the axis through the center of mass is an axis of
symmetry, and the axis does not change direction.
8
1/4/2022
A 1.20 kg disk with a radius 0f 10.0 cm rolls without slipping. The linear speed of
the disk is v = 1.41 m/s.
(a) Find the translational kinetic energy.
(b) Find the rotational kinetic energy.
(c) Find the total kinetic energy.
9
1/4/2022
v 4 mgh
R MR 2 2mR 2
Ei E f E f mgh
Ei 12 mv 2 12 I 2 12 mv 2 12 I (v / R) 2 12 mv 2 (1 I / mR 2 )
v2 I
h 1 2
2 g mR
10
1/4/2022
Bucket: Fnet mg T m a
a a
Cylinder: T R I I T I
R R2
a
mg I ma
R2
g g
a
I M
1 1
mR 2 2m
(a):
There must be a net torque to increase the
pulley’s clockwise angular velocity.
11
1/4/2022
1
W I 2f
2
2
I 2 2.7 kg m 700 rpm 2 rad / rev 601 min / s
2
f
46 N m
2 2 25 rev 2 rad / rev
A solid sphere and a hollow sphere of the same mass and radius roll forward
without slipping at the same speed.
How do their kinetic energies compare?
12
1/4/2022
Rolling friction
• We can ignore rolling friction if both the rolling body and the
surface over which it rolls are perfectly rigid (Fig. a)
• If the surface or the rolling body deforms, mechanical energy can
be lost, slowing the motion (Fig. b).
I s I cm m r 2
2
m r 2 m r 2 75 m r 2
5
s m g r sin(30) 5 g sin(30)
7
Is 5
mr2 7r
5(9.81 m/s 2 ) sin(30)
35.0 rad/s 2
7(0.10 m)
13
1/4/2022
Ki U i K f U f
K 12 mv 2 (1 I / mr 2 )
U mgh
mgh 12 mv 2 (1 I / mr 2 )
v 2 gh / (1 I / mr 2 )
Ki U i K f U f
K 12 mv 2 (1 I / mr 2 )
U mgh
Hollow Cylinder : I mr 2 ; v gh
mgh 12 mv 2 (1 I / mr 2 )
Solid Cylinder: I 12 mr 2 ; v 4
3
gh
v 2 gh / (1 I / mr 2 ) Hollow Sphere: I 23 mr 2 ; v 6
5
gh
Solid Sphere: I 52 mr 2 ; v 10
7
gh
14
1/4/2022
1
2
I cm 2 12 Mvcm 2 Mgh
vcm / R I cm cMR 2
(c is a constant that depends on the object.)
15
1/4/2022
A solid ball of mass M and radius R starts from rest & rolls down a hill.
Its center of mass drops a total distance h.
Find the ball’s speed at the bottom of the hill.
1 1
M v2 I 2
2 2
2
1 12 v
M v2 M R2 7 M v2
2 25 R 10
10
E E0 v gh < 2g h
7
sliding ball
Note: v is independent of M & R
2
Mgh 12 Mvcm
2
i 2
1
2
5
MR 2 vR
cm i
2
107 Mvcm
2
i
2
7vcm 7(2.0 m/s) 2
h i
0.29 m
10 g 10(9.8 m/s 2 )
16
1/4/2022
2 2
W d I d
1 1
2 d 2 d 2 1 1
I d Id K rot
dt 1
I d I 2f I i2
1 dt 1 2 2
17
1/4/2022
dW d d
P d (Compare with P Fv )
dt dt dt
f
1 2 1 2
W KE I f I i Work-Rotational Kinetic Energy Theorem
2 2
P
18
1/4/2022
Angular Momentum
LIω
I ω
Angular Momentum (1 of 3)
• To find the total angular momentum
of a rigid body rotating with angular
speed ω, first consider a thin slice of
the body.
• Each particle in the slice with mass mi
has angular momentum:
Li mi ri 2
Total angular momentum of the
rigid body is
L Li mi ri 2 I
19
1/4/2022
Angular Momentum (2 of 3)
• For a rigid body rotating around an axis of symmetry, the
angular momentum is:
Angular Momentum (3 of 3)
• The angular momentum of a rigid body rotating about
a symmetry axis is parallel to the angular velocity and
is given by L I.
L I
.
20
1/4/2022
A particle of mass m moves CCW at speed v around a circle of radius r in the x-y plane.
Find its angular momentum about the center of the circle,
express the answer in terms of its angular velocity.
L mrv
m r v kˆ
m r 2 kˆ
m r2 ω
Iω I m r2
Lnet L1 L2 r1 p1 r2 p2 m2
21
1/4/2022
dL d Li dr dp
i pi ri i
dt i dt i d t dt
d pi d ri
ri pi vi m vi 0
i dt dt
ri Fi τi
i
i
dL rotational analog
τ
dt of Newton’s 2nd law.
• When the net external torque acting on a system is zero, the total
angular momentum of the system is constant (conserved).
Li L f I ii I f f
Ii
f i
I
f
Ki 12 I ii 2
2
I 2
K f I ff
1 2
If i
1
i
2 2 I
f
22
1/4/2022
Example 10.17.
If the net external torque on a system is zero, the angular momentum is
conserved.
Li L f
Ii
f i
5.33 kg m2 1.60 kg m2 If
(5.33 kg m 2 )
f (3.74 rad/s)
(1.60 kg m 2 )
12.5 rad/s
23
1/4/2022
L f Li
I
2
L2
K 12 I 2
2I 2I
( I1 I 2 ) f I1i
I1 1 Kf L2 L2 I i I1
f i i /
I1 I 2 1 I 2 / I1 Ki 2 I f i2 I I f I1 I2
Li Lf
L r p r (mv)
Li mri vi sin 90 mri vi Lf mrf vf sin 90 mrf v f
ri 0.2 v f2 42
vf vi 2 4m/s T ma c m 0.5 80 N
rf 0.1 rf 0.1
24
1/4/2022
Example 21. A door 1.00 m wide, of mass 15 kg, can rotate freely about a vertical axis
through its hinges. A bullet with a mass of 10 g and a
speed of 400 m/s strikes the center of the door, in a direction perpendicular to the plane of the
door, and embeds itself there.
Find the door’s angular speed. Is kinetic energy conserved?
L f Li I mgr mc R 2 f R mc vi Rmc vi
25
1/4/2022
Example 10.17.
Masses are connected by a light cord
a
Find the linear acceleration a.
• Use angular momentum approach
• No friction between m2 and table
• Treat block, pulley and sphere as a non- isolated
system rotating about pulley axis. As sphere falls,
pulley rotates, block slides a
• Constraints:
v ωR for pulley α d / dt
a αR dv/dt
dLsys m1 g
m1aR m 2aR MR 2α a
dt M m1 m2
(m1R m 2 R MR)a τ net m1gR
L f L0 mv f rf mv0 r0 v f v0 r0 / rf
2
mv 2 m L L2 Angular momentum
T 3
r r mr mr is conserved, but
energy is not.
26
1/4/2022
L f Li I mgr mc R 2 f R mc vi Rmc vi
If the star collapses to a neutron star of radius Rf = 20.0 km, what will
be its final angular speed wf ?
Li L f I ii I f f
2
Ii 2
MRi2 R
f i 25 i i i
If 2
MR f Rf
5
2
(2.3 108 m) 6
(2.4 10 rad/s) 320 rad/s
(2.0 10 4
m)
3056 rpm
27
1/4/2022
2
Before collapse: m r02 0
L0
5
2
After collapse: L m r2
5
20 103 km 1 rev / day
2
r02
L L0
r2
0
6 km 45
2
A merry-go-round is rotating freely when a boy runs straight toward the center & leaps on.
Later, a girl runs tangentially in the same direction as the merry-go-round also leaps on.
Does the merry-go-round’s speed increase, decrease, or stays the same in each case?
Boy
Girl
Lb = 0 L = 0
L = Lg
I = I m + Ib
I = I m + Ig
?
28
1/4/2022
Before : L0 I 1 mg R vg
After : L I 2 mb R 2 2 mg R 2 2
I 1 mg R vg
L L0 2
I mb mg R 2
240 kg m 11 rpm 32 kg 1.3 m 3.7 m / s 21 rev / rad 60 s / min
2
2 12 rpm
240 kg m 28 kg 32 kg 1.3 m
2 2
29
1/4/2022
L rmv sin
(2.00 m)(21.2 kg)(4.10 m/s)sin135
123 kg m 2 /s
1 rev 1 hr 2 rad
7.27 10-5 rad/s
24 hr 3600 s 1 rev
L I 7.06 1033 kg m 2 /s
30
1/4/2022
I orbit M e rorbit 2 25 M e R e 2
(5.98 1024 kg) (1.50 1011 m) 2 52 (6.37 106 m) 2
1.346 10 47 kg m 2
1 orbit 1 yr 1 dy 2 rad
orb
1 yr 365.25 dy 24 60 60 s 1 orbit
1.991 10-7 rad/s
Note that we calculated
Lorbit I orbitorbit 2.68 10 kg m /s 48 2
Lspin 7.06 1033 kg m 2 /s
(a) CW to keep L = 0.
(b) Same, CCW.
31
1/4/2022
Usage:
• Navigation
• Missile & submarine guidance.
• Cruise ships stabilization.
• Space-based telescope like Hubble.
32
1/4/2022
33