COLLEGE OF ARTS AND SCIENCES

Department of Mathematics and Physics

Hand-out on Rotational Dynamics

Torque Tendency of an object to twist, turn or rotate

Represented by tau, τ
Torque of a force has a magnitude given by the magnitude of F of the force
times the lever arm
Lever Arm – distance l between the line of action and the axis of rotation,
measured on the line that is perpendicular to both.
Line of Action – is an extended line drawn colinear with the force
τ= F x l = Flsin θ Where
F= force
l = lever arm
θ = the angle between force and
lever arm
+ torque if the force tends to produce a counterclockwise rotation about the
axis
- torque if the force tends to produce a clockwise rotation about the axis
SI Unit: Netwon-meter (Nm)
Example:
1. Different Lever Arms, Different Torques
A force whose magnitude is 55 N is applied perpendicular to a door. However,
the lever arms are different in the three part (a) l = 0.80 m, (b) l = 0.60 m, (c) l =
0 m. Find the magnitude of the torque in each case.
Solution:
In each case, the lever arm is the prpendicular distance between the
axis of rotation and the line of action of the force.
(a) τ = Fl = (55N)(0.80 m) = 44 Nm
(b) τ = Fl = (55N)(0.60 m) = 33 Nm
(c) τ = Fl = (55N)(0 m) = 0 Nm
In (c) the line of action F passes through the axis of rotation or hige.
Hence the lever arm is 0, and the torque is zero.
2. Achilles Tendon
Figure on the right shows the ankle joint and the Achilles tendon attached to
the heel at point P. The tendon exerts a force of magnitude F = 720 N.
Determine the torque of this force about the ankle joint, which is located 3.6
x10-2 m away from point P.
Solution:
To calculate the magnitude of torque, it is necessary to have a value
for the lever arm l. It is important to realize that the lever arm is not the
given distance 3.6 x 10-2 m. Instead the lever arm is the perpendicular
distance between the axis of rotation at the ankle joint and the line of
action of F. The dashed red line indicates the distance.
l =(3.6 x 10 −2 m )cos 55=2.1 x 10−2 m
τ= Fl =(720 N )(2.1 x 10−2 m )=15 Nm
Answer: The force F tends to produce a clockwise rotation about the
ankle joint, so the torque is negative: -15 Nm
Rigid Objects in First Condition for Equilibrium (Translational) : ΣFx = 0 and ΣFy = 0 since a = 0
Equilibrium When calculating net force, only external forces are included, that is
those force applied to the object by external agents.
Internal forces can be ignored because they occur in action-reaction
pairs, which have no effect as far as the motion of the entire object is
 concerned.
Second condition for Equilibrium (Rotational) : Σ τ = 0
A net external torque causes rotational motion to change. But there is
no change in the motion of a rigid bdy in equilibrium, so there can be
no net torque.
Applying the Conditions of Equilibrium to a rigid body
1. Select the object to which the conditions for equilibrium are to be applied.
2. Draw a free-body diagram that shows all the external forces acting on the
object, each force with its proper direction.
3. Choose a set of convenient set of x, y axes and resolve all forces into
components that lie along these axes.
4. Apply the conditions that specify the balance of forces at equilibrium.
5. Select convenient axis of rotation.
6. Solve the equations in 4 and 5 for the desired unknownn quantities.

Example
3. Diving Board
A woman whose weight is 530 N is poised at the right end of a diving board,
whose length is 3.90 m. The board has negligible weight and is bolted down
at the left end, while being supported 1.40 m away by a fulcrum. Find the
forces F1 and F2 that the bolt and fulcrum, respectively, exert on the board.
Solution:
Three forces act on the board: The force due to woman's weigh, F 1
and F2
F1 points downward because the bolt must pull in the direction to
counteract the tendency of the board to rotate clockwise about the
fulcrum.
F2 points upward because the board pushes downward against the
fulcrum.
Since the board is in equilibrium,
Σ F y =−F 1 +F 2 −530 N =0
Similary, sum of torques is 0. We select the left end of the board is
wehre the axis of rotation passes.
Σ τ=+F 2 l 2− Wl w =+F 2 (1.40 m )−(530 N )(3.90 m )=0
F 2 =1480 N
F 1= F 2 −530 N =1480 N −530 N =950 N
Answer: The forces that the bolt and fulcrum exert on the board are
1480 N and 950 N, respectively.
4. Fighting a Fire
An 8.00-m ladder of weight WL= 355 N leans 50° against a smooth vertical wall.
The term "smooth" means that the wall can exert only a normal force directed
perpendicular to the wall and cannot exert a frictional force directed parallel
to it. A firefighter, whose weight is WF=875 N, stands 6.30 m from the bottom of
the ladder. Assume that the weight of the ladder acts at the ladder's center
and neglect the weight of the hose. Find the forces that the wall and the
ground on the ladder exert on the ladder. P
Solution:
The following forces are exerted on the ladder:
1. It weight WL
2. Weight of the firefighter Wf Gy
3. Force P applied by the wall on the ladder
W
4. Gx and Gy which are the components of the WL f
force exerted by the ground on the ladder.
Since the ladder is in equilibrium, the net force G
x
 acting on the ladder is 0:
Σ F x = G x − P =0 or G x = p (1)
Σ F y = G y −W f −W L=0 or G x =W L +W f =1230 N
Eq. 1 cannot be solved because there are 2 unknowns so I used the
equation for the summation of torques which is equal to 0 since the
object is in equilibrium. I set the axis of rotation to be at the bottom of
the ladder so that G does not produce torque on the ladder.
Σ τ=− Wl L−W f l f − Pl P =0
Σ τ=−(355 N )(4.00 m cos 50 )−(875 N )(6.30 m cos 50)+P (8.00 m sin50 )=0
P (8.00 m sin50)=( 355 N )( 4.00 m cos 50)(875 N )(6.30 m cos 50) or P =727 N
So Gx = 727 N.
Note: The location of the axis is completely arbitrary, because if an equilibrium,
it is in equilibrium with respect to any axis whatsoever.
Center of Gravity is the point at which its weight can be considered to act when calculating the
torque due to the weight.
W x +W 2 x 2 +... Coordinates of center of gravity
x cg = 1 1
W 1 +W 2 +...
W 1 x 1 +W 2 x 2 +...
x cg =
W 1 +W 2 +...
W z +W 2 z 2 +...
z cg = 1 1
W 1 +W 2 +...
Example
5. The horizontal arm illustrated below is composed
of three parts: the upper arm (weight W1 = 17 N),
the lower arm (weight W2 = 11 N), and the hand
(weight W3 = 4.2 N). The drawing shows the center
of gravity of each part, measured with respect to
the shoulder joint. Find the center of gravity of the
entire arm, relative to the shoulder joint.

Solution:
( 17 N )(0.13 m )+(11 N )(0.38 m )+( 4.2 N )(0.61 m )
x cg = =0.28 m
17 N +11 N +4.2 N

Newton's second law F T =ma T Consider an objoect moving on a

for rotational motion
about a fixed axis
(Non-equilbrium)
τ=F T r
τ=ma T r
τ= mr 2 α=I α
Σ τ=( Σ mr 2 ) α
circular path. A tangential force
(perpendicular to the axis of rotation)
gives a tangential acceleration to the
object where
The torque that the tangential force
produces where
r = the radius of the circular path
aT = rα = the angular acceleration
I = moment of Inertia

Moment of Inertia Resistance of the object to angular acceleration

Moment of inertia depends on where the axis is.
Moments of inertia for various Rigid Objects:

Smart Q-time: Archers can shoot with amazing accuracy, especially using
modern bows with bow stabilizer, a long thin rod that extends from the front of
the bow and has a relatively massive cylinder at the tip. Is there any truth to
advertisments claim that the stabilizer helps to steady the archer's aim?

Answer: Any angular acceleration about the axis (passing through archer's
shoulder) will lead to rotation of the bow and degrade the archer's aim. The
acceleration will created by any unbalanced torques that occur while the
archer's tensed muscle try to hold the drawn bow. So to keep the angular
acceleration small for a given torque and less disturbance of the aim, moment
of inertia must be increased which is the role of the added stabilizer. Massive
(large m) cylinder placed far (larger r) from axis of rotation is effective in
increasing MOI.
Example
6. Hoisting a crate. A crate that weighs 4420 N is being lifted by the
mechanism. The two cables are wrapped around their respective pulleys,
which have radii of 0.600 m and 0.200 m. The pulleys are fastened together to
form a "dual" pulley and turn as a single unit about the center axle, relative to
which the combined moment of inertia is I = 50.0 kgm 2. If a tension of
magnitude T1=2150 N is maintained in the cable attached to the motor, find
the angular acceleration of the "dual" pulley and the tension in the cable
connected to the crate.
 Solution:
The forces acting on the pulley are:
1. T1 = tension in the cable connected to the motor
2. T2 = tension in the cable connected to the crate
3. P = reaction force exerted by the axle on the dual pulley
We set the axis passing directly through the axle which makes the lever
arm of P zero (parallel to axis).
Σ τ=T 1 l 1−T 2 l 2 =I α
(2150 N )( 0.600 m )−T 2 (0.200 m )= I α
(2150 N )(0.600 m )−T 2 (0.200 m )
2
=α
50.0 kgm
From the upward translational motion of the crate,
Σ F y = T 2 −4420 N =ma y
T 2 =4420 N +ma y =4420 N +(451 kg )a y
ay=rα=(0.200m)α
T 2 =4420 N +(451 kg )(0.200 m )α
(2150 N )( 0.600 m )−T 2 ( 0.200 m )
T 2 =4420 N +(451 kg )(0.200 m )[ 2
]
50.0 kgm
T 2 =4420 N +2327.16 N −( 0.3608) T 2
T 2 +( 0.3608) t 2 =4420 N +2327.16 N
T 2 =4960 N
Solving for angular acceleration:
(2150 N )(0.600 m )−(4958.23 N )(0.200 m ) 2
α= 2
=5.97 rad / s
50.0 kgm
Answer: The tension on the rope that is attached to the load is
approximately 4960 N (larger than the tension produced on the rope
attached to the motor) and the pulley rotates at 5.97 rad/s 2.
Rotational Work W =τ θ Rotational work
SI Unit: Joule [J]
Derivation:
s Where
θ=
r s = arc length
 r = radius
W =Fs =Fr θ= τ θ τ = torque
The force does work in rotating the wheel through
the angle θ.

Rotational Kinetic 1 2 Rotational Kinetic Energy

Energy KE R = I ω
2 Where
I = moment of Inertia
ω = angular velocity
SI unit: Joule [J]
1 2 1 2 Total Kinetic Energy
KE total = mv + I ω
2 2 When a bicycle coasts down a hil, for
example, its tires are both translating and
rotating. To use the conservation of principle
for a rolling tire, we only need to recognize
that the total kinetic energy is the sum of its
translational and rotational kinetic energies.
Example
7. Rolling Cylinders. A thin-walled hollow cylinder and a solid cylinder start from
rest at the top of an incline. Both cylinders start at the same vertical height, h.
All heights are measured relative to an arbitrarily chosen zero level that passes
through the center of mass of a cylinder when it is at the bottom of the incline.
Neglecting any energy losses due to retarding forces, determine which
cylinder has the greatest translational speed upon reaching the bottom of the
incline
Solution:
Only the conservative force of gravity does work on the cylinders, so
the total mechanical energy is conserved as they roll down the incline.
1 2 1 2
E = mv + I ω +mgh
2 2
1 2 1 2 1 2 1 2
mv i + I ω i +mgh i = mv f + I ωf + mgh f
2 2 2 2
1 2 1 2
mgh i = mv f + I ω f since hf = 0 at the bottom of the incline
2 2
Since the cylinder is not slipping as it rolls, its final angular velocity and
final translational speed of its center of mass are related and given by:
v
ω=
r
Substituting the previous equation to conservation equation:

Hollow Cylinder:
vf=
√ 2 mgh
m +I / r 2

Solid Cylinder:
√
vf=
2 mgh
m +( mr 2 )/ r 2
= √ 2 gh
 √ √
2 mgh 4 gh
vf= = =1.15 √ gh
1 2 2 3
m +( mr )/ r
2
Answer: The solid cylinder, having the greater translational speed,
arrives at the bottom first.

Angular Momentum L =I ω Angular Momentum

I = moment of inertia
ω = angular velocity
SI unit: kgm/s
Principle of Conservation of Angular Momentum
The total angular momentum of a system remains constant if the net external
torque acting on the system is zero.
Analogies between Physical Concept Rotational Translational
Rotational and
Translational Displacement θ s
Concepts Velocity ω v
Acceleration α a
The cause of acceleration τ F
Inertia I m
Newton's Second Law Στ = Iα ΣF = ma
Work τθ Fs
Kinetic Energy (1/2)Iω2 (1/2)mv2
Momentum L = Iω p = mv