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Phys 7221 Homework # 8: Derivation 5-6: Torque Free Symmetric Top
Phys 7221 Homework # 8: Derivation 5-6: Torque Free Symmetric Top
Phys 7221 Homework # 8: Derivation 5-6: Torque Free Symmetric Top
Gabriela Gonzalez
November 15, 2006
The angle is the angle between the symmetry axis and the angular momentum vector,
and is determined by initial conditions. The bodys symmetry axis rotates about the angular
momentum with constant angular velocity = I3 3 /I cos . We now use the Euler angles
we obtained to calculate the components of in the inertial system, using the expression
from Derivation 15 in Chapter 4:
+ 0 )
x = cos + sin sin = sin sin(t
+ 0 )
y = sin sin cos = sincos(t
z = cos + = cos + I3 3 /I
We see that the component of the angular momentum along the z-axis, or the direction of
the angular momentum vector L, is constant, and the component of the angular velocity
perpendicular
~ and L is given
q to L is rotating with angular velocity . The angle between
0
2
2
by sin = x + omegay / = sin /. The angle between and the symmetry axis is
q
given by sin 00 = x20 + y20 / = 0 /. Then we have
sin 0 = sin / = sin sin 00 /0 = sin 00 /
where we have used 0 = sin , which we had obtained when solving for the Euler angles.
We can also use moments of inertia for an expression of sin 0 :
sin 0 = sin 00 / = I cos sin 00 /I3 3 = ((I3 I)/I3 ) cos sin 00
For the Earth considered as a free symmetric top, we have (I3 I)/I 3 103 , so the
angle 0 is very small, independent of values of , 00 : the angular velocity vector
~ is very
close to the angular momentum vector L. The measured distance 2R sin 00 is about 10m,
so the distance R sin 0 = (I3 I)/IR sin 00 cos 15mm cos < 1.5cm.
As seen in the body axes, the angular velocity vector describes a cone of aperture angle
about the symmetry axis: this is called the body cone. As seen in the inertial frame, the
angular velocity vector describes a cone of aperture angle , about the angular momentum
vector: this is called the space cone. Both cones share the angular momentum vector along
their sides at any given instant. The angular velocity vector is the instantaneous axis of
rotation, so the cones are rolling without slipping on each other.
A very nice page with animations showing this example, by Prof. Eugene Butikov, can
be found in http://faculty.ifmo.ru/butikov/Applets/Precession.html , from which
Fig.1 is a snapshot.
Exercise 5-15
Consider a flat rigid body in the shape of a right triangle with uniform mass density
= M/A, and area A = a2 /2, where a is the length of the equal sides of the triangle.
2
Figure 1: A rotating torque free symmetric top (left), and the associated space and body
cones. The conserved angular momentum vector (blue) is along the z axis; the (red)
instantaneous angular velocity vector is at the intersection of the cones, precessing about
the z axis. From http://faculty.ifmo.ru/butikov/Applets/Precession.html
Let us choose the right angle corner of the triangle as the origin of a coordinate system
with the x, y axis along the sides of the triangle. The boundary of the triangle is given by
x + y = a; the mass elements on the surface will have coordinates (x,y,0) with (x,y) within
the triangle. The elements of the inertia tensor in such a system are
Z
Z a Z ax
Z a
(a x)3
a4
M a2
Ixx =
(y 2 + z 2 )dA =
dx
y 2 dy =
dx =
=
3
12
6
A
0
0
0
Z a Z ay
Z
M a2
2
2
x2 dx =
dy
(x + z )dA =
Iyy =
6
0
0
A
Z
2
Ma
Ixx =
(x2 + y 2 )dA = Ixx + Iyy =
3
A
Z a
Z ax
Z a
Z
(a x)2
a4
M a2
xdx
ydy =
xdx
xydA =
Izz = Iyx =
=
=
2
24
12
0
0
0
A
Z
Ixz =
xzdA = 0 = Iyz
A
2 1 0
M a2
1 2 0
I=
12
0
0 4
We look for eigenvalues of the inertia tensor, which will be solutions to the equation
det(I I1) = 0, or
2k I
k
0
= (4k I)((2k I)2 k 2 )
2k I
0
det(I I1) = k
0
0
4k I
with k = M a2 /12. The three real, positive solutions are the principal moments of inertia:
(I1 , I2 , I3 ) = (k, 3k, 4k) = (M a2 /12, M a2 /4, M a2 /3).
The principal axes are the eigenvectors corresponding to each eigenvalue. If the eigenvectors have components ~ni = (nix , niy , niz ), the equations are I ~ni = i k~ni with i =
1, 3, 4. The equations for n1 are:
I n1 = kn1
2 1 0
n1x
n1x
k 1 2 0 n1y = k n1y
0
0 4
n1z
n1z
2n1x n1y
n1x
n1x + 2n1y = n1y n1x = n1y , n1z = 0.
4n1z
n1z
4
2 1 0
n2x
n2x
k 1 2 0 n2y = 3k n2y
0
0 4
n2z
n2z
2n2x n2y
n2x
n2x + 2n2y = 3 n2y n1x = n1y , n1z = 0
4n2z
n2z
The equations for n3 are:
I n3 = 4kn3
2 1 0
n3x
n3x
k 1 2 0 n3y = 4k n3y
0
0 4
n3z
n3z
2n2x n2y
n3x
n2x + 2n2y = 4 n3y n3x = n3y = 0, n3z 6= 0
4n2z
n3z
The eigenvectors with unit magnitude are then
n1 = (1/ 2)(1, 1, 0)
n2 = (1/ 2)(1, 1, 0)
n3 = (0, 0, 1)
I1 = I2 = I. The angular velocity will have a component cos along the cone axis, and
a component sin on the plane perpendicular to the axis.
The moments of inertia with respect to the cones axis are I30 = 3M R2 /10, I 0 =
3M (h2 +R2 /4)/5, where R = h tan is the radius of the base. The moments of inertia with
respect to the center of mass at a distance a = 3h/4 along axis, are I3 = I30 = 3M R2 /10,
I = I 0 M a2 = 3M (R2 + h2 /4)/20.
If we choose the center of mass as the origin of the body axes, the kinetic energy is
T = (1/2)M v 2 + (1/2)I3 2 cos2 + (1/2)I1 2 sin2 = 3M h2 2 (1 + 5 cos2 )/40.
Exercise 5-18
A weightless bar of length l has two masses of mass m at the two ends, and is rotating
uniformly about an axis passing through the bars center, making an angle with the bar.
dL
= 2ml2 2 sin cos (sin(t), cos(t), 0)
dt
The torque is a rotating vector, perpendicular to the angular velocity (which is along
the z axis), and perpendicular to the bar (which is along r1 ), just as we had obtained from
Eulers equations.
The velocity of points in the disk are equal equal to r a + a r0 , where r0 is the position
vector of the mass element in the reference frame fixed to the rotating disk, ra is the position
of the center of mass of of the disk, and the the angular velocity vector a describes the
rotation of the disk in an inertial system. The magnitude of the angular velocity vector a
and its direction is perpendicular to the motion plane. The squared speed of mass
is =,
elements will then be v 2 = va2 + 2ra ( a r0 ) + a2 r02 , and the kinetic energy of the disk
will be
Z
Z
1
1
2
T disk =
v dm =
(va2 + 2ra ( a r0 ) + a2 r02 )dm.
2
2
We recognize that the third term will lead to a term (1/2)I0 a2 in the kinetic energy,
with I0 = M a2 /2 the moment of inertia of the disk with
R respect to the center of mass.
The integral of the second term will vanish, since r0 dm is the position of the center
of mass in a coordinate system where the center of mass is at the origin.
The velocity of the center of mass of the disk r a is equal to r 0 + a a, where r0 is the
position vector of the attachment point, and a is the position of the center of mass of the
disk with respect to the attachment point. Then
va2 = (r0 + a a) (r0 + a a)
= v02 + 2v0 ( a a) + a2 a2
= l2 2 + 2 a (a v0 ) + a2 2
The velocity of the attachment point v0 is tangent to the disk, so the direction of the
cross product a v0 is perpendicular to the plane of motion, and a (a v0 ) = a |a v0 |.
The position vector of the attachment point is r0 = l(cos , sin , 0), and its velocity vector
sin , cos , 0). The position of the center of mass of the disk with respect to
is v0 = l(
the attachment point is a = a(cos , sin , 0). Thus,
sin , cos , 0)
a v0 = a(cos , sin , 0) l(
8
= al cos( )k
The kinetic energy of the disk is then
Tdisk =
=
=
1
M va2 + I0 a2
2
1
1 M a2 2
M (l2 2 + 2al cos( ) + a2 2 ) +
2
2 2
1
3
M l2 2 + M al cos( ) + M a2 2
2
4
= Trod + Tdisk
3
1 2 2 1
) + M a2 2
ml + M l2 2 + M aldotcos(
=
6
2
4
1
3
2 2
2
=
(3M + m)l + M alcos(
) + M a 2
6
4
The potential energy of the rod is Vrod = mg(l/2) cos , and the potential energy of the
disk is Vdisk = M g(l cos + a cos ), so the total potential energy is
1
1
V = mgl cos M g(l cos + a cos ) = (m + 2M )gl cos M ga cos
2
2
The Lagrangian is
1
3
1
L = T V = M l2 2 + M al cos( ) + M a2 2 + (m + 2M )gl cos + M ga cos
2
4
2
Lagranges equation for is:
1
d 2
10
and we prove they are not exact differentials (they are not derivatives of a function):
d dfx
d
d dfx
=
R sin = R cos 6=
=0
d d
d
d d
d dfy
d
d dfy
=
R cos = R sin 6=
=0
d d
d
d d
We now want to write Lagranges equations of motion, using Lagrange multipliers.
The potential energy is constant, so we only have kinetic energy. The kinetic energy has a
translational part, and a rotational part. The rotational energy is especially simple since
the sphere has identical moments of inertia about the principal axes:
L=T
=
=
=
1
1
mv v + I
2
2
1
1
2
2
2)
m(x + y ) + I(( cos + sin sin )2 + ( sin sin cos )2 + ( cos + )
2
2
1
1
m(x 2 + y 2 ) + I(2 + 2 + 2 + 2 cos )
2
2
m
x = x
m
y =
I + I sin =
=
I + I( cos sin ) =
11
The last equation (Lagranges equation for ) says that the angular velocity z is
constant. This is because is a cyclical variable in the Lagrangian and because the
Notice that is also a cyclical variable in the Lagrangian,
constraints do not depend on .
but it is not associated with a conserved quantity because the constraints depend on .
Since there is no dissipation or forces doing any work, the energy (equal to the kinetic
energy) is conserved:
1
1
1
1
E = T + V = Ttr + Trot + 0 = mv v + I = mv 2 + I(2 + z2 )
2
2
2
2
Due to the constraint v = R, the energy is equal to E = 12 (mR2 +I)2 + 12 Iz2 . Since z is
constant, then we know that (and thus also v) are constant. Therefore, the translational
kinetic energy 12 mv 2 and the rotational energy 21 I(2 + z2 ) are separately conserved.
Since the motion is a pure rotation, the kientic energy has the form T = (1/2)I0 2 ,
where I0 is the moment of inertia about the axis of rotation (the doors hinged side, the
z 0 axis), and = is the angular velocity: Trot = 12 Iz 0 2 . The moment of inertia of the
door with respect to the z 0 axis, is calcualted integrating over the points on the door (all
with y 0 = 0 coordinates:
Z
Z
Z
m w3
m w 02 0 h 0
1
02
02
0 0
dz =
Iz 0 = (x + y )dx dz =
x dx
h = mw2 .
wh 0
wh 3
3
0
The kinetic energy is then
1
1
T = Iz 0 2 = mw2 2 .
2
6
The total energy is
mg
1
(w sin sin + h cos ).
E = T + V = mw2 2 +
6
2
In the initial position, = 0 and = 0. Since the energy is conserved, we obtain
mg
1
mgh
E = mw2 2 +
(w sin sin + h cos ) =
cos ,
6
2
2
an expression we can use as a differential equation for :
3g sin
2 =
sin
w
Notice that since /2 < < 0, the expression on the left hand side is a positive
expression. The angular velocity when the door reaches the equilibrium position at =
/2 (where it will not stop, but oscillate about, if it can go through the shut position) is
then
r
3g sin
f =
.
w
The time it will take to reach that position can be obtained the equation for :
r
d
3g sin
=
sin
dt
w
r
w
d
dt =
3g sin sin
r Z /2
w
d 0
t =
3g 0
sin
r
Z 0
w
d 0
=
3g sin /2 sin 0
13
w
2F (/4, 2)
3g sin
r
w
= 1.51
g sin
w 1.51 2
0.9m
1.51 2
sin =
=
= 1.3
g
t
9.8m/s2
3s
=
Three seconds is a looong time for a door to close, so we obtain a small hinge angle.
The smallest
p time for the door to close is when the hinges are horizontal, = /2 and
t = 1.51 w/g = 0.45sec. The wider the door, the longer it takes to close.
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