Chapter 10

Rotation of a Rigid Object

about a Fixed Axis
Angular Position
 Consider a disc - Axis of rotation
is the center of the disc
 Point P is at a fixed distance r
from the origin
 A small element of the disc can be
modeled as a particle at P
 Point P will rotate about the origin
in a circle of radius r
 P is located at (r, ) where r is the
distance from the origin to P and 
is the measured counterclockwise
from the reference line
 As the particle moves through , it
moves though an arc length s.
 The arc length and r are
related:
 s=r
Radian
 This can also be expressed as
s

r
  is a pure number, but commonly is given
the artificial unit, radian
 One radian is the angle subtended by an arc
length equal to the radius of the arc
 Whenever using rotational equations, you
must use angles expressed in radians
Conversions
 Comparing degrees and radians
360
1 rad   57.3
2
 Converting from degrees to radians

  rad    degrees 
180
Angular Displacement & Average Angular
Speed
 The angular displacement is
defined as the angle the object
rotates through during some time
interval
   f   i
 This is the angle that the
reference line of length r sweeps
out
 The average angular speed, ωavg,
of a rotating rigid object is the ratio
of the angular displacement to the
time interval
 f   i 
avg  
tf  ti t

  d
 lim
t  0  Instantaneous Angular Speed
t dt
 Units of angular speed are radians/sec
 rad/s or s-1 since radians have no dimensions
 Angular speed will be positive if θ is increasing
(counterclockwise)
 Angular speed will be negative if θ is decreasing (clockwise)

 The average angular acceleration, ,

f  i 
 avg  
tf  ti t

 d 
 lim
t  0 
t dt
 Units of angular acceleration are rad/s² or s-2 since radians
have no dimensions
 Angular acceleration will be positive if an object rotating
counterclockwise is speeding up
 Angular acceleration will also be positive if an object
rotating clockwise is slowing down
Rotational Kinematics
 Under constant angular acceleration, we can
describe the motion of the rigid object using a set of
kinematic equations
 These are similar to the kinematic equations for linear
motion
 The rotational equations have the same mathematical form
as the linear equations
 The new model is a rigid object under constant
angular acceleration
 Analogous to the particle under constant acceleration
model
Rotational Kinematic
Equations
f  i   t
1 2
 f   i  i t   t
2
f  i  2 f   i 
2 2

1
f   i  i  f  t
2
all with consant 
Comparison Between Rotational
and Linear Equations
Example
 A wheel rotates with a constant angular acceleration of
3.5 rad/s2
a) If the angular speed of the wheel is 2 rad/s at ti = 0,
through what angular displacement does the wheel
rotate in 2s?
b) Through how many revolutions has the wheel turned
during this time interval?
c) What is the angular speed of the wheel at t = 2 s?

Document projector!
Relationship Between Angular
and Linear Quantities
 Displacements  Every point on the
s  r rotating object has the
 Speeds same angular motion
v  r  Every point on the
rotating object does not
 Accelerations
have the same linear
a  r motion
Speed Comparison
 The linear velocity is
always tangent to the
circular path
 Called the tangential
velocity
 The magnitude is
defined by the
tangential speed
ds d
v r  r
dt dt
Acceleration Comparison
 The tangential
acceleration is the
derivative of the
tangential velocity
dv d
at  r  r
dt dt
Centripetal Acceleration
 An object traveling in a circle, even though it
moves with a constant speed, will have an
acceleration
 Therefore, each point on a rotating rigid object will
experience a centripetal acceleration
v2
aC   r2
r
Resultant Acceleration
 The tangential component of the acceleration
is due to changing speed
 The centripetal component of the
acceleration is due to changing direction
 Total acceleration can be found from these
components
a  at2  ar2  r 2 2  r 2 4  r  2   4
 CD Player
 A CD player reads digitally stored information
such as music and data imprinted on compact
disc (CD). The digital data represented as binary
ones and zeros are stored on CDs as tiny pits
and flats everywhere on the disc. A laser lens
system detects these pits and flats as it runs
over a spinning disc.
To read a length of information at a constant rate it is required that the
tangential speed of the disc surface at the location of the lens is constant. In a
typical CD player, the constant speed of the surface at the point of the laser –
lens system is 1.3 m/s.

a)Find the angular speed of the disc in revolutions per minute when information
is being read from the innermost first track (r = 23 mm) and the outermost final
track (r = 58 mm).

b) The maximum playing time of a standard music disc is 74 min and 33 s. How
many revolutions does the disc make during that time?

c) What is the angular acceleration of the compact disc over this time interval?
 Torque
 When a force is exerted on an object
pivoted about an axis the object tends to
rotate about that axis.
 The wrench and bolt example shows a
force F applied at an angle ϕ to the
horizontal produces a rotation through
the center of the bolt.
 The magnitude of the torque around the
axis passing through O is given as:

 The moment arm is the quantity , d

Note: torque is a special kind of force that causes SI units of torque are
rotation and should not be confused with force N.m
Net Torque

 The force F1 will tend to
cause a
counterclockwise
rotation about

O
 The force F2 will tend to
cause a clockwise
rotation about O
 F1d1 – F2d2
Torque due to is (- taken for
clockwise rotation.

Torque due to
 Suppose T1 = 5 N, R1 = 1 m , T2 = 15 N and R2 =
0.5m.
 What is the net torque about the rotation axis and
which way does the cylinder rotate starting from
rest?

 The net torque is positive which means the

cylinder starts to rotate counterclockwise.
Torque and Angular
Acceleration


Ft

Fr
Moment of Inertia
 The definition of moment of inertia is
I   ri 2mi
i
 The dimensions of moment of inertia are ML2
and its SI units are kg.m2
 We can calculate the moment of inertia of an
object more easily by assuming it is divided
into many small volume elements, each of
mass mi
Parallel-Axis Theorem
 In the previous examples, the axis of rotation
coincided with the axis of symmetry of the object
 For an arbitrary axis, the parallel-axis theorem often
simplifies calculations
 The theorem states I = ICM + MD 2
 I is about any axis parallel to the axis through the center of
mass of the object
 ICM is about the axis through the center of mass
 D is the distance from the center of mass axis to the
arbitrary axis
Moment of Inertia for a Rod
Rotating Around One End
 The moment of inertia
of the rod about its 1
ICM  ML2
center is 12

 D is ½ L
 Therefore,
I  ICM  MD 2
2
1 L 1 2
I ML  M    ML
2

12 2 3
 Angular Acceleration of a Wheel

 A wheel of radius R, mass M, and moment of

inertia I is mounted on a frictionless, horizontal
axle as in Figure 10.14. A light cord wrapped
around the wheel supports an object of mass m.
When the wheel is released, the object
accelerates downward, the cord unwraps off the
wheel, and the wheel rotates with an angular
acceleration.
 Find expressions for the angular acceleration of
the wheel, the translational acceleration of the
object, and the tension in the cord.
Rotational Kinetic Energy
1
K R   K i   mi ri 2 2
i i 2

1 2 2 1 2
KR   
2 i
m r
i i 

 
2
I

 A uniform rod of length L and mass M is free to rotate on a frictionless pin passing
through one end. The rod is released from rest in the horizontal position.
 (A) What is its angular speed when the rod reaches its lowest position?
(B) Determine the tangential speed of the center of mass
and the tangential speed of the lowest point on the rod
when itis in the vertical position.
Rolling Object, Center of Mass
 The velocity of the
center of mass is
ds d
v CM  R  R
dt dt
 The acceleration of the
center of mass is
dvCM d
aCM  R  R
dt dt
Total Kinetic Energy, Example
 Accelerated rolling motion is
possible only if friction is
present between the sphere
and the incline
 The friction produces the
net torque required for
rotation
 No loss of mechanical
energy occurs because the
contact point is at rest
relative to the surface at
any instant
 Use the active figure to vary
the objects and compare
their speeds at the bottom
Sphere Rolling Down an Incline
Suppose the sphere shown in Figure
10.26 is solid and uniform. Calculate the
translational speed of the center of mass
at the bottom of the incline and the
magnitude of the translational
acceleration of the center of mass.
 To calculate acceleration
 Chapter 11
Angular Momentum
The Vector Product and Torque
 The torque vector lies in a
direction perpendicular to
the plane formed by the
position vector and the
force vector
 
 The torque is the vector (or
cross) product of the
position vector and the
force vector
The Vector Product Defined
 
 Given two vectors, A and B
 
C  A B
 C is read as “A cross B”

 C is AB sin 
The magnitude of vector

  is the angle between A and B
 The best way to determine this direction is to use the
right-handrule
 Parallel A  B  0

 Perpendicular A  B  AB
Vector Products of Unit
Vectors

ˆi  ˆi  ˆj  ˆj  kˆ  kˆ  0
ˆi  ˆj   ˆj  ˆi  kˆ
ˆj  kˆ  kˆ  ˆj  ˆi
kˆ  ˆi   ˆi  kˆ  ˆj
Using Determinants
 The cross product can be expressed as
ˆi ˆj kˆ
 Ay Az Az ˆ Ax Ay
A  B  Ax Ay Az  ˆi  Ax j kˆ
By Bz Bx Bz Bx By
Bx By Bz

 Expanding the determinants gives


A  B   Ay Bz  Az By  ˆi   Ax Bz  Az Bx  ˆj   Ax By  Ay Bx kˆ
Torque Vector Example
 Given the force and location

F  (2.00 ˆi  3.00 ˆj) N

r  (4.00 ˆi  5.00 ˆj) m

 Find the torque produced

 Angular Momentum

 Consider a particle of mass m located
 at the vector positionr
and moving with linear momentum p
 The net torque Cross product
  of these is zero
  dp
r   F    r  because they
dt are parallel

dr 
Add the term  p  sinceit  0 
dt

 d (r  p )
  dt

Angular Momentum of a Particle in
Uniform Circular Motion
 A particle moves at constant speed in the xy plane in a circular path of
radius r as shownAngular Momentum of a Particle in Uniform Circular
Motion. Find the magnitude and direction of its angular momentum
relative to an axis through O when its velocity is v.
 
L =r p
 The magnitude is
L = mvr sin 90o = mvr
 sin 90o is used since v is perpendicular to r
A System of Objects
 A sphere of mass m1 and a block of mass m2 are connected by a light cord
that passes over a pulley as shown. The radius of the pulley is R, and the
mass of the thin rim is M. The spokes of the pulley have negligible mass.
The block slides on a frictionless, horizontal surface. Find an expression
for the linear acceleration of the two objects, using the concepts of angular
momentum and torque.

• When the system is released the block

slides to the left , the sphere drops
downwards, and the pulley rotates
counterclockwise.

• The torque on the system is due to the

gravitational force on the sphere.

• We calculate the angular momentum of

the block, sphere and the pulley about
the axle of the pulley
 At any instant in time the sphere, the block and all points on the rim
of the pulley have the same speed v. The angular momentum of
the sphere, the block and pulley about the pulley axle are:
 Lsphere =

 Lblock =

 Lpulley =
 = I

Law of conservation of angular momentum

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