Torque

 
F F
r   m F  m 

r r
  
  rF
  
  r F  r F
SI unit of torque: mN
r is moment arm.
F  FT is tangential component of force.

FT  m aT  m r 
2
  mr 
For a rigid body
  
i
i  m i
i
2
ri   I 

I  m
i
i ri 2

I is moment of inertia of the body about

the axis of rotation.
2
SI unit of I: kg m
Example

y Fext
m
  2
r2

 m1
r1
o x
Two particles m1 and m 2 are connected
by a mass less rod.
Particles are also connected to origin by
mass less rods.

Fext acts only on m2 .

F12 : Force on m1 because of m2.

F21 : Force on m2 because of m1.
Torque because of internal forces
   
 r1  F12  r2  F21
  
 r1  r2   F12  0
Similarly torques on m1 and m2 because
of rods connecting them to origin are zero.

Net torque is only because of Fext .
 ext  I 
Associate a “sense of rotation”.

y
m2
  
r2 F2

F1
 m1
r1
x
 
Torque on m1 due to F1 is along the
positive z axis.

Torque on m2 due to F2 is along the
negative z axis.
Torque depends on origin but force does
not.
 
 and F are mutually perpendicular.
 f
R Torque with zero net force.
f   2 f R, F  0

R Force with zero net torque.

f f   0, F  2 f

f
R Both torque and force.
  f R, F  f
Problem

m m

m m

A
A particle of mass m is situated at each
corner of a square of side a.
Moment of inertia of the system about
AB?

I  2 m a sin 45  m a 2
2
 2

2 2 2
 m a  2 m a  3m a
Moment of inertia of annular cylinder
about its axis
Inner radius: R1
Outer radius: R2
Length: L
Mass: M


2
I  r dm
Mass element: cylindrical shell
 R2

   2
I  2 r dr L r
R1

2L

4
4
R2  R14
 

M   R2  R1 L
2 2

1
I 
2
2 2
M R1  R2 
Special cases
(a) Solid cylinder R1= 0, R2= R
1 2
I MR
2
(b) Hoop R1 = R2 = R
2
I MR
(c) Disc
1 2
I MR
2
Moment of Inertia of a cube of side a
about an axis passing through its center
and through the centers of two opposite
faces?
z

x
I    dxdydz 2
x  y 2

3 5
2a 2 a
    a 2 
3 2 6
2
Ma

6
Moment of inertia of a solid sphere of
radius R and mass M about an axis
through its center?
z

o
y

x
Ix    dxdydz  2
y  z 2

Iy    dxdydz x2
 z 2

Iz    dxdydz x2
 y 2

Ix  Iy  Iz
Ix  Iy  Iz

 2   dxdydz x  y  z
2 2 2

 2   r sin  d d dr r
2 2

5
R 2
 2   4
5

5
3M R2

2 2
I  Ix  Iy  Iz  M R
5
Moment of inertia of a thin spherical
shell about any diameter?

 R
 2
I   R d R sin  d R sin   


  R  2  sin  1  cos  d
4 2

0

2 2
 MR
3
2
M  4 R 
Moment of inertia of a cone about its axis?
Radius of base is R.
z


o
 1
I    r 2 dz  r 2
2
h
1
    z tan  dz
4 4

2 0
5
1 4 h
   tan 
2 5
3
2 h
M    tan 
3
3 2
I MR
10
Theorem of parallel axis

P
 
ri ri 
c.m.

R
o
  
I   mi ri   mi ri . ri
2

i i
   

  mi R  ri  . R  ri   
i
 
  mi R  2  mi R . ri    mi ri
2 2

i i i
2
 M R  I cm
I cm   mi ri 2

i
Moment of inertia of a solid cylinder
about z axis
1 2 2 3 2
I  M R M R  M R
2 2
z

y
x
Theorem of perpendicular axes


I z   mi ri   mi x  y  I x  I y
2 2
i
2
i 
i i
y

ri
yi
o xi x
Moment of inertia of a disc about
its diameter
1 2
 MR
4
Equilibrium Applications
For translational equilibrium

 Fext  0
For rotational equilibrium

 ext  0
If both the conditions are satisfied body
is in mechanical equilibrium.
If force lines meet at a point and their
resultant is zero, body is in mechanical
equilibrium.
If the force lines do not meet at a point,
body is not in mechanical equilibrium.
Problem P 8
A bar AB of negligible weight is pinned at
A and supported at B by a thin wire BC.
A weight W can move along the bar.
Tension T in the wire?
FH and FV on the bar by the pin at A?
W  T sin   FV
FH  T cos 
Wx
W x  L T sin   T 
L sin 
Wx
 FH  cot 
L
 x
FV  W 1  
 L
If the wire can withstand a tension of
500 N, the maximum value of x for
0
L=3 m, W=300 N and   30 is given
by
300 x
500 
3  0.5
x  2.5 m
Problem P 6
Two identical frictionless spheres,each
of weight W.
Force exerted on spheres by container
sides and by one another?
FH : Force exerted by two vertical sides.
FV : Force exerted by bottom.
F : Force exerted by one another.
FV  2 W
FH  F cos 
FV  W  F sin 
W
 F sin   W  F 
sin 
FH  W cot 
Problem E 29
Minimum force required to raise the
wheel over an obstacle of height h?
F (r  h)  M g r  r  h 
2 2

2
M g 2r h  h
F
r  h 
Problem E 32
A 300 N plank of length L = 6 m rests on
the ground and on a frictionless roller at
the top of a wall of height h = 3 m.
The plank remains in equilibrium for any
0
value of   60 , but slips if  < 60 .
0

Coefficient of static friction between

plank and ground?
The center of gravity of plank is at its
center.
 N

x
FV h

FH
W  N cos  FV
FH  N sin 
WL
Nx cos
2
WL
N sin  cos  150 sin 60
2h
2
FH  150 sin 60, FV  300  75 sin 60
FH   FV    0.48
Problem E 24
F d

A force F is applied to a cube at rest on a

horizontal surface.
Coefficient of static friction is 0.46.
Does the cube slide or topple first if the
force F is increased steadily.
In order to slide the cube, minimum
value of F is
 Mg  0.46 Mg
In order to topple the cube, minimum
value of F is given by
d
F d  Mg or F  0.5 Mg
2
Thus the cube will slide first.
Problem P 1
A crate has the shape of a cube of edge 1 m.
Its center of gravity is 0.2 m above its
geometrical center.
The crate rests on a ramp inclined at an
angle  .
Coefficient of static friction is 0.6.
Does the crate slide or topple first as  is
increased?
Crate will slide if
Mg sin    Mg cos 
0
or tan    or   31

Crate will topple if

0.5 Mg cos  0.5  0.2  Mg sin 
0.5 0
or tan   or   35.5
0.7
Thus the crate will slide.
Problem P 9
y

o x
L
Each brick is offset from the one below it
L
by , where n is a constant.
n
Number N of bricks that can be used
before the arrangement falls over?
For the top N-1 bricks
L N 1
LN
xcm  
n N  1 1
i
2n
In order that the structure does not topple
LN L
 or N n
2n 2
Problem E 38
Pulley is frictionless and has radius R.
The string does not slip on pulley.
When the system is released from rest,
the pulley turns through  in time t.
Angular acceleration of the pulley and
linear acceleration of the blocks?
Tensions in the upper and lower sections
of the string?
 1 2 2 2 R
  t   2  a  2
2 t t
M a  M g  T1 , M a  T2  f
T1  T2  R  I 
 2 R 
T1  M  g  2 
 t 
I  2 R  2 I
T2  T1   M g  2  2
R  t  Rt
Problem P 17
The system is released from rest.
If L1  20 cm and L2  80 cm, calculate
linear accelerations of the two blocks.

 2
1
2
2 
m L  L   m g L2  L1 
g L2  L1  a 2 a1
 2 2
 
L1  L2 L2 L1
2 2
a1  1.73 m / s , a 2  6.92 m / s
Combined rotational and translational
motion

For rolling without slipping

s  r  , v  r  , a  r

If slipping occurs
s  r  , v  r , a  r
Problem
A solid sphere is set into rotation with
angular velocity  0 about a horizontal axis.
It is then placed on a horizontal surface and
released with its c.m. at rest.
Linear velocity of sphere when rolling
begins?
 k : Coefficient of kinetic friction.
v0  0 v

0 
f
dv
M  f
dt
d
I f R
dt
R 
2
0 dv   R
5 0 d 

2 2
  0  v  R0
7 7
f k M g
a   k g
M M
5 k M g 5 k g
  
2M R 2R
Problem
A bowler throws a ball of radius 10 cm with
initial speed v 0  7 m / s.
Initial angular speed of ball = 0.
Coefficient of kinetic friction = 0.2.
Speed of ball when it starts rolling?
How long and how far does it skid?
Number of revolutions made before rolling
starts?
 v

dv d
m f, I  f R
dt dt
 v
2 5
R  d    dv  v  v 0  5 m / s
5 0 v0
7
 10
5  7  0.2 g t  t   1.02 s
g
25  49  2  0.2 g s  s  6.12 m
2 5 g
  I   R   g   
5 2R
2 25  2  0.1
  2    
0.01  2  5  0.2  9.8
  4 rev
Problem

A billiard ball rests on a horizontal surface.

It is given a horizontal blow a distance h
above the surface.
Value of h for which ball does not slip but
starts to roll?
 F
h

M v 0  F t , I  0  F h  R  t
2
M R 2 0  M R 0 h  R 
5
2
R  hR
5
7
h R
5
Problem
A billiard ball, initially at rest , is given a
sharp impulse by a cue.
The ball leaves the cue with a speed v 0
and eventually starts rolling when its
9
speed becomes v 0 .
7
h=?
F t  M v 0 , F h t  I  0
2
2 2 2 R 0
M R  0  M v0 h  v0 
5 5h
dv d
M  f, I f R
dt dt
 v
2 d dv 2
R   R  d    dv
5 dt dt 5 0 v0

2 5 h v0  4
 v    v  v 0  h  R
5 2R  5
Problem

h
F
f
Suppose F is applied below the center
line.
Show that when the rolling sets in, the
speed of the ball can become zero for
h=R.
Show that it is possible to give backward
velocity to the ball provided F has a
downward vertical component.
F t  M v 0 , I 0  F h t
2
2 2 2 R 0
M v0 h  M R  0  v0 
5 5h
dv d
M f, I f R
dt dt
 v
2 2 5 h v0 
R  d   dv   v    v  v 0
5 0 v0
5 2R 
5 v0  h
v 1    v  0 for h  R
3  R
F
 
The vertical component of F will try
to rotate the ball in reverse direction.
Thus it is possible to move the ball
backward.
Problem

F
F

 r
F
R
A yo-yo resting on a table is free to roll.
When the string is pulled horizontally to
the left, the yo-yo rolls to the left.
When the string is pulled vertically, the
yo-yo rolls to the right.
Prove that if the string is pulled at an
angle  , given by sin   r / R, the yo-yo
does not move away.
For F horizontal

M a  F  f , I  f R  F r
a
I  f R  F r  R F  M a   F r
R
F R  r 
a
I 
  M R
R 
For F vertical, f acts to the right.

M a  f , I    F r  f R
a
I  F r  R M a
R
Fr
a 
I
RM 
R
For F inclined at an angle 

M a   F sin   f , I   f R  F r
a 
I  R F sin   M a   F r
R
F R sin   r 
a  
I
M R
R
a   0 for R sin   r
Problem
A cylinder of mass M and radius R starts
from rest and rolls without slipping down
an inclined plane.
Velocity of c.m. of cylinder when it moves
a distance d along the plane?

f

M a  M g sin   f
I  f R
1 2 a 1
MR  f R Ma f
2 R 2
2
a  g sin 
3
4 g d sin 
v
3
Problem P 22
Tension in each cord as they unwind?
Linear acceleration of cylinder as it falls?

M a  M g 2T
1
I   2T R  M a  2T
2
2
a g
3
Mg
T 
6