Chapter 10 Rotational Motion

9/05/2012
Lecture PowerPoints
Chapter 10
Physics for Scientists and
Engineers, with Modern
Physics, 4th edition
Giancoli
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Copyright © 2009 Pearson Education, Inc.
Chapter 10
Rotational Motion
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Units of Chapter 10
• Angular Quantities
• Vector Nature of Angular Quantities
• Constant Angular Acceleration
• Torque
• Rotational Dynamics; Torque and Rotational
Inertia
• Solving Problems in Rotational Dynamics
Units of Chapter 10
• Determining Moments of Inertia
• Rotational Kinetic Energy
• Rotational Plus Translational Motion; Rolling
• Why Does a Rolling Sphere Slow Down?
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10-1 Angular Quantities

In purely rotational motion, all
points on the object move in
circles around the axis of
rotation (“O”). The radius of
the circle is R. All points on a
straight line drawn through the
axis move through the same
angle in the same time. The
angle θ in radians is defined:
l
,
R
where l is the arc length.

Example 10-1: Birds of prey—
in radians.
A particular bird’s eye can just
distinguish objects that
subtend an angle no smaller
than about 3 x 10-4 rad. (a) How
many degrees is this? (b) How
small an object can the bird
just distinguish when flying at
a height of 100 m?
Note: Arc length, s  l

For  in rad: s = r
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than about 3 x 10-4 rad.
(a) How many degrees is this?
The radian (rad) is the angle subtended by an

arc of a circle equal to the radius :
r  360 180
1 rad   deg  57.3
2 r 
 180 
3 10  4 rad  3 10  4    0.017
 π 

than about 3 x 10-4 rad.
(b) How small an object can
the bird just distinguish when
flying at a height of 100 m?
s = r = 100310-4 m = 30 mm
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Angular displacement:
The average angular velocity is

defined as the total angular
displacement divided by time:
The instantaneous angular

velocity:

The angular acceleration is the rate at which the
angular velocity changes with time:
The instantaneous acceleration:
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Every point on a rotating body has an angular
velocity ω and a linear velocity v.
They are related:
As s  Rθ (θ  angular displacement in rad)
ds dθ
v R  Rω (ω  angular velocity in rad/s)
dt dt
dv dω
a R  Rα (α  angular acceleration in rad/s 2 )
dt dt
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Conceptual Example 10-2: Is the lion faster
than the horse?
On a rotating carousel or merry-go-round,
one child sits on a horse near the outer edge
and another child sits on a lion halfway out
from the center. (a) Which child has the
greater linear velocity? (b) Which child has
the greater angular velocity?
The horse has a greater linear velocity; the

angular velocities are the same
Objects farther
from the axis of
rotation will move
faster.
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If the angular velocity of a
rotating object changes, it
has a tangential
acceleration:
Even if the angular velocity is constant,

each point on the object has a centripetal
acceleration:

Here is the correspondence between linear
and rotational quantities:
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Example 10-3: Angular and linear
velocities and accelerations.
A carousel is initially at rest. At t = 0 it

is given a constant angular
acceleration α = 0.060 rad/s2, which
increases its angular velocity for 8.0 s.
At t = 8.0 s, determine the magnitude
of the following quantities: (a) the
angular velocity of the carousel; (b)
the linear velocity of a child located
2.5 m from the center; (c) the
tangential (linear) acceleration of that
child; (d) the centripetal acceleration
of the child; and (e) the total linear
acceleration of the child.


of the following quantities:
(a) the angular velocity of the
carousel;
v v 0  at v0  0
R  R t
   t  0.060  8.0  0.48 rad/s
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(b) the linear velocity of a child
located 2.5 m from the center;
v  r  2.5  0.48  1.2 m/s


(c) the tangential (linear) acceleration
of that child;
a  R  2.5  0.060  0.015 m/s 2
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(d) the centripetal acceleration of the
child;
v 2 1.2 2
aR    0.58 m/s 2
R 2.5


(e) the total linear acceleration of the
child.
  
a  a R  a tan (perpendicular to each other)
a  aR2  atan
2
 0.582  0.152  0.60 m/s 2
 atan   0.15 
  tan 1    tan 1    15 to the radius
a
 R   0.58 
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The frequency is the number of complete

revolutions per second:
Frequencies are measured in hertz:
The period is the time one revolution takes:
Example 10-4: Hard drive.

The platter of the hard drive of a computer
rotates at 7200 rpm (rpm = revolutions per
minute = rev/min). (a) What is the angular
velocity (rad/s) of the platter? (b) If the reading
head of the drive is located 3.00 cm from the
rotation axis, what is the linear speed of the
point on the platter just below it? (c) If a single
bit requires 0.50 μm of length along the
direction of motion, how many bits per second
can the writing head write when it is 3.00 cm
from the axis?
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minute = rev/min).
(a) What is the angular velocity (rad/s) of the
platter?
7200
7200 rpm   120 rev/s  f  120 Hz
60

f     2 f  2  120  754 rad/s
2

minute = rev/min).
(b) If the reading head of the drive is located
3.00 cm from the rotation axis, what is the
linear speed of the point on the platter just
below it?
v  R  0.03  754  22.6 m/s
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The platter of the hard drive of a computer rotates at
7200 rpm (rpm = revolutions per minute = rev/min).
(c) If a single bit requires 0.50 μm of length along the
direction of motion, how many bits per second can
the writing head write when it is 3.00 cm from the
axis?
Each bit requires 0.50  10-6 m
At a speed of 22.6 m/s the number of bits
passing the head per second is
22.6
 45  106 bits/s  45 Mbps
0.50  10 -6

Example 10-5: Given ω as function of time.
A disk of radius R = 3.0 m rotates at an angular velocity
ω = (1.6 + 1.2t) rad/s, where t is in seconds.
At the instant t = 2.0 s, determine
(a) the angular acceleration,
d d
  (1.6  1.2t )  1.2 rad/s 2
dt dt
and (b) the speed v and the components of the
acceleration a of a point on the edge of the disk.
v  R  3.0(1.6  1.2  2.0)  12.0 m/s
atan  R  3.0  1.2  3.6 m/s 2
v 2 12.0 2
aR    48 m/s 2
R 3.0
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10-2 Vector Nature of Angular Quantities
The angular velocity vector points along the axis

of rotation, with the direction given by the right-
hand rule. If the direction of the rotation axis
does not change, the angular acceleration vector
points along it as well.
10-3 Constant Angular Acceleration

The equations of motion for constant angular
acceleration are the same as those for linear
motion, with the substitution of the angular
quantities for the linear ones.
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10-3 Constant Angular Acceleration

Example 10-6: Centrifuge acceleration.
A centrifuge rotor is accelerated from rest to 20,000 rpm in
30 s. (a) What is its average angular acceleration? (b)
Through how many revolutions has the centrifuge rotor
turned during its acceleration period, assuming constant
angular acceleration?
20000  2
20000 rpm   2090 rad/s
60
  0 2090  0
(a)   0   t      70 rad/s 2
t 30
70  30 2
(b)   0t  12 t 2  0   3.15  104 rad
2
3.15  10 4
  5000 rev
2
10-4 Torque
To make an object start rotating, a force is needed; the
position and direction of the force matter as well.
The perpendicular distance from the axis of rotation to the
line along which the force acts is called the lever arm.
Top view of a door. Applying the same force with different

lever arms, RA and RB. If RA = 3RB, then to create the same
effect (angular acceleration), FB needs to be three times FA,
or FA = 1/3 FB.
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10-4 Torque
A longer lever
arm is very
helpful in
rotating objects.
The longer the

lever arm, the
greater the
torque.
10-4 Torque
Here, the lever arm for FA is the distance from
the knob to the hinge; the lever arm for FD is
zero; and the lever arm for FC is as shown.
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10-4 Torque
The torque is defined

as:
  R F
The same result is
obtained if you use:
  R F
10-4 Torque
Example 10-7: Torque on a compound wheel.
Two thin disk-shaped wheels, of

radii RA = 30 cm and RB = 50 cm,
are attached to each other on an
axle that passes through the
center of each, as shown.
Calculate the net torque on this
compound wheel due to the two
forces shown, each of magnitude
50 N.
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10-4 Torque
Example 10-7: Torque on a compound wheel.
RA = 30 cm and RB = 50 cm
FA = FB = 50 N
Take counterclockwise  as positive

τ  τ A  τ B  R A FA  RB FB cos 
 0.3  50  0.5  50 cos 30  6.7 N . m
Negative sign shows that

total torque is clockwise.
10-5 Rotational Dynamics; Torque and Rotational Inertia

Knowing that F  ma & a  Rα
we see that F  mRα
& τ  R.mRα  mR 2α
This is for a single point
mass; what about an
extended object?
R As the angular
acceleration is the same
for the whole object, we
can write:
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10-5 Rotational Dynamics; Torque and

Rotational Inertia
The quantity is the rotational inertia
of an object and is called the moment of inertia.
The distribution of mass matters here—these two
cylinders have the same mass, but the one on the
left has a greater rotational inertia, as so much of
its mass is far from the axis of rotation.
10-5 Rotational Dynamics; Torque and

Moment of Inertia
The moment of inertia of an object depends not

only on its mass distribution but also the location
of the axis of rotation.
The following tables give some examples:
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10-6 Solving Problems in Rotational

Dynamics
1. Draw a diagram.
2. Decide what the system comprises.
3. Draw a free-body diagram for each object
under consideration, including all the forces
acting on it and where they act.
4. Find the axis of rotation; calculate the torques
around it.
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10-6 Solving Problems in Rotational

Dynamics
5. Apply Newton’s second law for rotation. If

the rotational inertia is not provided, you
need to find it before proceeding with this
step.
6. Apply Newton’s second law for translation
and other laws and principles as needed.
7. Solve.
8. Check your answer for units and correct
order of magnitude.
10-7 Determining Moments of Inertia
If a physical object is available, the moment

of inertia can be measured experimentally
(See Experiment E2)
Otherwise, if the object can be considered
to be a continuous distribution of mass, the
moment of inertia may be calculated:
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A solid cylinder or disk

is an easy example r
x dx
0
m m
Let  be the mass per unit area → σ  
A πr 2
Mass of element: dm = 2xdx
r r r
I   x  dm   x  σ  2πx  dx  2πσ  x 3  dx
2 2
0 0 0
r
x4  2πσr 4 2πmr 4 1 2
 2πσ     2  2 mr
4
 0 4 πr  4

Example 10-12: Cylinder, solid
or hollow.
(a) Show that the moment of
inertia of a uniform hollow
cylinder of inner radius R1,
outer radius R2, and mass M,
is I = ½ M(R12 + R22), if the
rotation axis is through the
center along the axis of
symmetry. (b) Obtain the
moment of inertia for a solid
cylinder.
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Example 10-12: Cylinder, solid or hollow.
M M
Let   
A  R2  R12
2
 
dm   .2R.dR
R2 R2 R2
I   R 2 dm   R 2 . .2R.dR  2  R 3dR
R1 R1 R1
R2
 R4 
 2  
 4  R1
 R 4 R 4   4
 2  2  1  
4 4 2

R2  R14 
 


M R2  R1
4 4

  
M R22  R12 R22  R12 
Hollow 
2 R22  R12  
2 R22  R12 
Cylinder 
I  12 M R22  R12 

Example 10-12: Cylinder, solid or hollow.
For Solid Cylinder set R1  0

I  12 M R22  R12  12 MR22 
ie. I  12 MR 2
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The parallel-axis theorem gives the

moment of inertia about any axis
parallel to an axis that goes through the
center of mass of an object:

Example 10-13: Parallel axis.
Determine the moment of
inertia of a solid cylinder of
radius R0 and mass M about
an axis tangent to its edge
and parallel to its symmetry
axis.
I  I CM  Mh 2
 12 MR02  MR02
I  32 MR02
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The perpendicular-axis theorem is valid only
for flat objects.
eg. Moment of Inertia of a disk
about a diameter
I z  12 MR 2
I x  I y  I diam
I z  I x  I y  2 I diam
Iz 1
I diam   4 MR 2
2
10-8 Rotational Kinetic Energy

The kinetic energy of a rotating object is given by
By substituting the rotational quantities, we find

that the rotational kinetic energy can be written:
v  r  K  12 mr 2 2
rotational K  12 I 2
A object that both translational and rotational
motion also has both translational and rotational
kinetic energy:
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When using conservation of energy, both
rotational and translational kinetic energy must
be taken into account.
All these objects have the same potential energy
at the top, but the time it takes them to get down
the incline depends on how much rotational
inertia they have.
eg. Three objects, a hoop, a cylinder and a sphere roll down an incline
from a height h.
(a) which will arrive at the bottom of the incline first?
(b) which will arrive at the bottom of the incline last?
Hoop: I  MR 2
Cylinder: I  12 MR 2
Sphere: I  52 MR 2
In general we can write: I  γMR 2

where : γ  1 for hoop
γ  12 for cylinder
γ  52 for sphere
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Since energy is conserved:
Ei = Ef → mgh = ½mv2 + ½I2
v2 v
mgh  12 mv 2  12 γmr 2 as v  rω  ω 
r2 r
 2gh  v 2  γv 2  v 2 (1  γ)
2gh
v 
1 γ
2gh
v 
1 γ
The object with the highest velocity will arrive at the bottom first, ie.
object with the smallest value for  → Sphere will arrive first
The object with the lowest velocity will arrive at the bottom last, ie.
object with the highest value for  → Hoop will arrive last.
Note that the answer does not depend on either the mass or the radius of
the objects.
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The torque does work as it moves the wheel
through an angle θ:
Note Linear
analogue equation
W  Fx
10-9 Rotational Plus Translational Motion;

Rolling
In (a), a wheel is rolling without
slipping. The point P, touching
the ground, is instantaneously
at rest, and the
 center moves
with velocity v.
In (b) the same wheel is seen
from a reference frame where C
is at rest. Now point P is

moving with velocity – v .
The linear speed of the wheel is
related to its angular speed:
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10-10 Why Does a Rolling Sphere Slow

Down?
A rolling sphere will slow down and stop rather
than roll forever. What force would cause this?
If we say “friction”, there are problems:
• The frictional force has to
act at the point of contact;
this means the angular
speed of the sphere would
increase.
• Gravity and the normal
force both act through the
center of mass, and cannot
create a torque.
10-10 Why Does a Rolling Sphere Slow

Down?
The solution: No real sphere is perfectly rigid.

The bottom will deform, and the normal force
will create a torque that slows the sphere.
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Summary of Chapter 10
• Angles are measured in radians; a whole circle is
2π radians.
• Angular velocity is the rate of change of angular
position.
• Angular acceleration is the rate of change of
angular velocity.
• The angular velocity and acceleration can be
related to the linear velocity and acceleration.
• The frequency is the number of full revolutions
per second; the period is the inverse of the
frequency.
Summary of Chapter 10, cont.

• The equations for rotational motion with constant angular
acceleration have the same form as those for linear motion
with constant acceleration.
• Torque is the product of force and lever arm.
• The rotational inertia depends not only on the mass of an
object but also on the way its mass is distributed around
the axis of rotation.
• The angular acceleration is proportional to the torque and
inversely proportional to the rotational inertia.
•An object that is rotating has rotational kinetic energy. If it
is translating as well, the translational kinetic energy must
be added to the rotational to find the total kinetic energy.
32

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9/05/2012

Copyright © 2009 Pearson Education, Inc.

Copyright © 2009 Pearson Education, Inc.

Copyright © 2009 Pearson Education, Inc.

10-1 Angular Quantities

10-1 Angular Quantities

Note: Arc length, s  l

10-1 Angular Quantities

The radian (rad) is the angle subtended by an

Copyright © 2009 Pearson Education, Inc.

10-1 Angular Quantities

Copyright © 2009 Pearson Education, Inc.

10-1 Angular Quantities

The average angular velocity is

The instantaneous angular

Copyright © 2009 Pearson Education, Inc.

10-1 Angular Quantities

The instantaneous acceleration:

Copyright © 2009 Pearson Education, Inc.

10-1 Angular Quantities

Copyright © 2009 Pearson Education, Inc.

10-1 Angular Quantities

As s  Rθ (θ  angular displacement in rad)

Copyright © 2009 Pearson Education, Inc.

10-1 Angular Quantities

The horse has a greater linear velocity; the

Copyright © 2009 Pearson Education, Inc.

10-1 Angular Quantities

Copyright © 2009 Pearson Education, Inc.

10-1 Angular Quantities

Even if the angular velocity is constant,

Copyright © 2009 Pearson Education, Inc.

10-1 Angular Quantities

Copyright © 2009 Pearson Education, Inc.

10-1 Angular Quantities

A carousel is initially at rest. At t = 0 it

10-1 Angular Quantities

A carousel is initially at rest. At t = 0 it

10-1 Angular Quantities

A carousel is initially at rest. At t = 0 it

v  r  2.5  0.48  1.2 m/s

Copyright © 2009 Pearson Education, Inc.

10-1 Angular Quantities

A carousel is initially at rest. At t = 0 it

a  R  2.5  0.060  0.015 m/s 2

Copyright © 2009 Pearson Education, Inc.

10-1 Angular Quantities

A carousel is initially at rest. At t = 0 it

10-1 Angular Quantities

A carousel is initially at rest. At t = 0 it

10-1 Angular Quantities

The frequency is the number of complete

Frequencies are measured in hertz:

The period is the time one revolution takes:

Copyright © 2009 Pearson Education, Inc.

10-1 Angular Quantities

Example 10-4: Hard drive.

10-1 Angular Quantities