3rd lecture MOW PFY F111

Angular momentum. Torque. One particle and system of particles.

Conservation of Angular momentum. Fixed axis rotation. Moment of inertia of simple objects.

Dr. Yuriy Petenev

18.1.2024 BITS Pilani, K K Birla Goa Campus
 Definitions (one particle)
Angular momentum of a particle:

⃗
𝐿= [ 𝑟⃗ × ⃗
𝑝 ] =𝑚 [ ⃗ 𝑣]
𝑟 ×⃗ in units of

⃗ ⃗
𝑝 𝐹
⃗
𝑟
Torque:

O Fixed point (origin or pole) ⃗=[⃗

𝜏 𝐹]
𝑟 ×⃗

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 Direction of angular momentum
⃗
𝐿= [ 𝑟⃗ × ⃗
𝑝 ] =𝑚 [ ⃗ 𝑣]
𝑟 ×⃗
Right hand rule helps you to find a direction of L

m m

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 Ways to calculate angular momentum

⃗
𝐿= [ 𝑟 𝑝 ] =¿
⃗×⃗ p
|L|= Size of the area
0

rS θ
S m
𝑟 ¿∨¿ ¿

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 Ways to calculate angular momentum

Angular momentum always referred to a specific point p

If =>
Θ=0
m
rS

S
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 Use matrix method

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 Example
y
⃗
𝐿=𝑚 [ 𝑟⃗ × ⃗
𝑣]
𝑚
v
v
r

x
r=0 at t=0 => L=0

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 Relation between torque and AM
⃗
𝐿= [ 𝑟⃗ × ⃗
𝑝] ⃗=[⃗
𝜏 𝐹]
𝑟 ×⃗

𝑑⃗
𝑑𝑡
= [
𝐿 𝑑 𝑟⃗ ⃗ ⃗ 𝑑 ⃗
𝑑𝑡 ][
×𝑝 + 𝑟 ×
𝑝
𝑑𝑡
⃗
¿𝜏 ]
0
⃗
𝐹

If => => conservation of angular momentum

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 System of many particles

⃗
𝑝𝑖
⃗
𝑟𝑖

𝑓=
−𝑓
O
⃗𝐿 ( 𝑠𝑦𝑠𝑡𝑒𝑚) =⃗𝐿 + ⃗ ⃗ ⃗
1 𝐿2 +…+ 𝐿𝑁 =∑ 𝐿𝑖
N particles

0
If net external torque => => conservation of angular momentum
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 Rotation about fixed axis
or about axis OZ is a projection of or on this axis
⃗=[⃗
𝜏 𝐹 ] =¿
𝑟 ×⃗
⃗
𝑟⟘ ⃗
𝑝 ⃗
𝐹 ( is parallel to OZ and is in plane perpendicular to OZ )

⃗ ⃗
𝑟
𝑟 ¿∨¿ ¿ 0 0 projection on OZ
𝜏 𝑂𝑍 ∨¿ [ 𝑟⃗⟘ × ⃗
¿⃗ 𝐹 ⟘ ] ¿𝑂𝑍
OZ Fixed axis
Similar for AM:
¿⃗
𝐿𝑂𝑍 ∨¿ [ ⃗ 𝑝 ⟘ ] ¿𝑂𝑍
𝑟⟘ ×⃗
Fixed axis means that the direction of the axis of rotation is always along the
same line, the axis is not translating.
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 Rigid body - rotation about fixed axis
𝜔 Rigid body - shape does not change if it rotates.
When a rigid body rotates around an axis, every particle
⃗
𝑣𝑖 ⟘ in the body remains at a fixed distance from the axis.
⃗
𝑟𝑖
∆ 𝐿𝑂𝑍 , 𝑖 =𝑑𝑚 𝑖 [ ⃗ 𝑣 𝑖 ]=𝑑𝑚 𝑖 𝜔(𝑟 ¿ ¿ 𝑖⟘ ) ¿
⟘ 2
𝑑𝑚𝑖 𝑟𝑖 × ⃗
⟘ ⟘

OZ

𝐿𝑂𝑍=∑ ∆𝐿𝑂𝑍,𝑖=𝜔 ∑ 𝑑𝑚𝑖 (𝑟 ¿¿𝑖⟘) =𝜔∫ 𝑟 𝑑𝑚=𝜔𝐼 𝑂𝑍 ¿

2 2
⟘
where - moment of inertia about OZ

𝑑 𝐿𝑂𝑍 𝑑𝜔
𝑑𝑡
= 𝐼 𝑂𝑍
𝑑𝑡
=𝐼 𝑂𝑍 𝛼=𝜏 𝑂𝑍 𝑚 𝑎𝑥 = 𝐹 𝑥
is angular acceleration characterizes inertial properties of a body spinning about OZ
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Parallel and perpendicular axis theorems
2
𝐼 𝑂𝑍 = 𝐼 𝐶𝑀 + 𝑀 𝑅 The perpendicular axis theorem (or plane figure theorem) states that,
"The moment of inertia () of a laminar body about an axis (z)
perpendicular to its plane is the sum of its moments of inertia about two
mutually perpendicular axes (x and y) in its plane, all the three axes being
concurrent. "
𝑀
𝑅 𝐼 𝑧 = 𝐼 𝑥+ 𝐼 𝑦
CM
OZ

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Moments of Inertia of different bodies

*wikipedia
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 Moment of Inertia of solid sphere (ball)

z 𝑟 =√ 𝑅2 −h 2
y Mass of disc: 𝑑𝑚=𝜌 𝑑𝑉 =𝜌 ∙ 𝜋 𝑟 2 𝑑h
r
Moment of inertia of disc:
dh
2
𝑑𝑚 ∙ 𝑟 2 2
=𝜌𝜋 ( 𝑅 − h ) 𝑑h
2
h R 𝑑 𝐼=
𝑅
2 𝑅
x
𝐼= ∫ 𝑑𝐼 =2∫ 𝑑𝐼 =¿
−𝑅 0
𝑅
¿ 𝜋𝜌 ∫ ( 𝑅 −2 𝑅 h +h
0
4 2 2 4
( 52 5 1 5 4
3 5 3
3
)(
2 2
) 𝑑h¿ 𝜋𝜌 𝑅 − 𝑅 + 𝑅 ¿ 𝜋 𝑅 𝜌 ∙ 𝑅
5 )( )
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 Net torques and forces = ?

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 Thank you for your attention

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