Chapter 11

Rolling, Torque, and Angular Momentum

In this chapter we will cover the following topics:

-Rolling of circular objects and its relationship with friction
-Redefinition of torque as a vector to describe rotational problems that
are more complicated than the rotation of a rigid body about a fixed
axis
-Angular momentum of single particles and systems of particles
-Newton’s second law for rotational motion
-Conservation of angular momentum -
Applications of the conservation of angular momentum

(11-1)
 Rolling as Translation and Rotation Combined
t1 = 0 t2 = t
Consider an object with circular cross section that rolls
along a surface without slipping. This motion, though
common, is complicated. We can simplify its study by
treating it as a combination of translation of the center of
mass and rotation of the object about the center of mass.
Consider the two snapshots of a rolling bicycle wheel shown in the figure.
An observer stationary with the ground will see the center of mass O of the wheel
move forward with a speed vcom . The point P at which the wheel makes contact
with the road also moves with the same speed. During the time interval t between
ds
the two snapshots both O and P cover a distance s, vcom  (eq. 1). During t
dt
the bicycle rider sees the wheel rotate by an angle  about O so that
ds d
s  R  R = (eq. 2). If we combine equation 1 with equation 2
dt dt
we get the condition for rolling without slipping: vcom  R (11-2)
 vcom  R

We have seen that rolling is a combination of purely translational motion

with speed vcom and a purely rotational motion about the center of mass
vcom
with angular velocity   . The velocity of each point is the vector sum
R
of the velocities of the two motions. For the translational motion the

velocity vector is the same for every point (vcom ,see fig. b). The rotational
velocity varies from point to point. Its magnitude is equal to  r where r is
the distance of the point from O. Its direction is tangent to the circular orbit
(see fig. a). The net velocity is the vector sum of these two terms. For example,
the velocity of point P is always zero. The velocity of the center of mass O is
 
vcom (r  0). Finally, the velocity of the top point T is equal to 2vcom . (11-3)
 vT Rolling as Pure Rotation
A
vA Another way of looking at rolling is shown in the figure.
vO B We consider rolling as a pure rotation about an axis
vB of rotation that passes through the contact point P
between the wheel and the road. The angular
v
velocity of the rotation is   com .
R
In order to define the velocity vector for each point we must know its magnitude
as well as its direction. The direction for each point on the wheel points along the

tangent to its circular orbit. For example, at point A the velocity vector v A is
perpendicular to the dotted line that connects point A with point B. The speed
of each point is given by v   r. Here r is the distance between a particular
point and the contact point P. For example, at point T r  2 R.
Thus vT  2 R  2vcom . For point O r  R, thus vO   R  vcom .
For point P, r  0 thus vP  0.
(11-4)
 The Kinetic Energy of Rolling
Consider the rolling object shown in the figure.
It is easier to calculate the kinetic energy of the rolling
body by considering the motion as pure rolling
about the contact point P. The rolling object has mass M
and radius R.
1
The kinetic energy K is then given by the equation K  I P 2 . Here I P is the
2
rotational inertia of the rolling body about point P. We can determine I P using
1
the parallel axis theorem. I P  I com  MR 2  K 
2
 I com  MR 2   2 .

1 1 1 1 1
K   I com  MR    I com  MR 
2 2 2 2 2
K  I com  Mvcom
2 2

2 2 2 2 2
The expression for the kinetic energy consists of two terms. The first term
corresponds to the rotation about the center of mass O with angular velocity .
The second term is associated with the kinetic energy due to the translational
motion of every point with speed vcom . . (11-5)
 Friction and Rolling
When an object rolls with constant speed (see top figure)
it has no tendency to slide at the contact point P and thus
no frictional force acts there. If a net force acts on the
 
acom  0 rolling body it results in a nonzero acceleration acom
for the center of mass (see lower figure). If the rolling
object accelerates to the right it has the tendency to slide

at point P to the left. Thus a static frictional force f s
opposes the tendency to slide. The motion is smooth
rolling as long as f s  f s ,max .

The rolling condition results in a connection between the magnitude of the

acceleration acom of the center of mass and its angular acceleration  ,
dvcom d
vcom   R. We take time derivatives of both sides  acom  R  R .
dt dt
acom  R
(11-6)
 Rolling Down a Ramp
Consider a round uniform body of mass M and radius R
rolling down an inclined plane of angle  . We will
acom calculate the acceleration acom of the center of mass
along the x-axis using Newton's second law for the
translational and rotational motion.

Newton's second law for motion along the x-axis: f s  Mg sin   Macom (eq. 1)
Newton's second law for rotation about the center of mass:   Rf s  I com
acom acom
  We substitute  in the second equation and get Rf s   I com 
R R
acom
f s   I com (eq. 2). We substitute f s from equation 2 into equation 1 
R2
acom g sin 
 I com 2
 Mg sin   Macom acom  
R I com
1
MR 2
(11-7)
 g sin 
| acom |
I
acom 1  com2
MR

Cylinder Hoop
MR 2
I1  I 2  MR 2
2
g sin  g sin 
a1  a2 
1  I1 / MR 2 1  I 2 / MR 2
g sin  g sin 
a1  a2 
1  MR 2 / 2MR 2 1  MR 2 / MR 2
g sin  g sin 
a1  a2 
1  1/ 2 11
2 g sin  g sin 
a1   (0.67) g sin  a2   (0.5) g sin 
3 2 (11-8)
 The Yo - Yo
Consider a yo-yo of mass M , radius R, and axle radius R0
rolling down a string. We will calculate the acceleration
acom of the center of its mass along the y -axis using Newton's
second law for the translational and rotational motion as we did
in the previous problem.
acom Newton's second law for motion along the y -axis:
Mg  T  Macom (eq. 1).
Newton's second law for rotation about the center of mass:
y
acom
  R0T  I com . Angular acceleration   .
R0
We substitute  in the second equation and get
acom
T  I com (eq. 2). We substitute T from equation 2 into equation 1 
R0 2
acom g
Mg  I com 2
 Macom  acom  .
R0 I
1  com2 (11-9)
MR0
Torque Revisited
In Chapter 10 we defined the torque  of a rigid body rotating about a fixed axis
with each particle in the body moving on a circular path. We now expand the
definition of torque so that it can describe the motion of a particle that moves

along any path relative to a fixed point. If r is the position vector of a particle
    
on which a force F is acting, the torque  is defined as   r  F .
 
In the example shown in the figure both r and F lie in the xy -plane. Using the

right-hand rule we can see that the direction of  is along the z -axis.
The magnitude of the torque vector   rF sin  , where  is the angle
 
between r and F . From triangle OAB we have r sin   r 
  r F , in agreement with the definition of Chapter 10.
  
  r F

B
(11-10)
 Angular Momentum
 
The counterpart of linear momentum p  mv in rotational
motion is a new vector known as angular momentum.
  
The new vector is defined as follows:   r  p.
 
In the example shown in the figure both r and p
lie in the xy -plane. Using the right-hand rule we

can see that the direction of  is along the z -axis.
The magnitude of angular momentum   rmv sin  ,
 
B where  is the angle between r and p. From triangle
OAB we have: r sin   r    r mv.
Note: Angular momentum depends on the choice of the origin O. If the origin

is shifted, in general we get a different value of .
SI unit for angular momentum: kg  m 2 / s. Sometimes the equivalent J  s is used.
    
  r  p  mr  v    r mv (11-11)
Newton's Second Law in Angular Form
 
dp
Newton's second law for linear motion has the form: Fnet  . Below we
dt
will derive the angular form of Newton's second law for a particle.
  
   d d     dv dr      
  mr  v    m r  v   m r    v   mr  a  v  v 
dt dt  dt dt 

  d       
v v  0 
dt
 
 m  r  a    r  ma   r  Fnet   net
 
 d  dp
Thus:  net  . Compare with: Fnet  .
dt dt


 d
 net 
dt

(11-12)
 The Angular Momentum of a System of Particles
z
m1 We will now explore Newton's second law in
ℓ1 ℓ3
angular form for a system of n particles that have
m2    
ℓ2 m3 angular momentum 1 , 2 , 3 ,..., n .
O
x y
      n 
The angular momentum L of the system is L  1  2  3  ...  n   i .
i 1
 
dL n
d i
The time derivative of the angular momentum is
dt
= 
i 1 dt
.

d i 
The time derivative for the angular momentum of the i-th particle   net,i
dt

where  net,i is the net torque on the particle. This torque has contributions
from external as well as internal forces between the particles of the system. Thus

dL n
  
  net,i   net . Here  net is the net torque due to all the external forces.
dt i 1

By virtue of Newton's third law the vector sum of all internal torques is zero. 
dL 
Thus Newton's second law for a system in angular form takes the form:   net
dt

(11-13)
Angular Momentum of a Rigid Body Rotating About a Fixed Axis

We take the z -axis to be the fixed rotation axis. We will determine

the z -component of the net angular momentum. The body is

divided into n elements of mass mi that have a position vector ri .
   
The angular momentum i of the ith element is i  ri  pi .
Its magnitude is  i  ri pi  sin 90  = ri mi vi . The z -compoment
 iz of  i is  iz   i sin    ri sin   mi vi   ri mi vi .
The z -component of the angular momentum Lz is the sum:
n n n
 n 
Lz    iz   ri mi vi  ri mi  ri       mi ri 2 
i 1 i 1 i 1  i 1 
n
The sum  i i is the rotational inertia I of the rigid body.
m
i 1
r 2

Thus: Lz  I .

Lz  I 
(11-14)
Conservation of Angular Momentum
For any system of particles (including a rigid body) Newton's

dL 
second law in angular form is   net .
dt

 dL
If the net external torque  net  0 then we have: 0
dt

L  a constant. This result is known as the law of the
conservation of angular momentum. In words:
 Net angular momentum   Net angular momentum 
    at some later time t 
 at some initial time t i   f 
 
In equation form: Li  L f

Note: If the component of the external torque along a certain

axis is equal to zero, then the component of the angular momentum
of the system along this axis cannot change.
(11-15)
 Example: The figure shows a student seated
on a stool that can rotate freely about a
vertical axis. The student, who has been set into
rotation at an initial angular speed i , holds
two dumbbells in his outstretched hands. His

angular momentum vector L lies along the
rotation axis, pointing upward.

The student then pulls in his hands as shown in fig. b. This action reduces the
rotational inertia from an initial value I i to a smaller final value I f .
No net external torque acts on the student-stool system. Thus the
angular momentum of the system remains unchanged.
Angular momentum at ti : Li  I ii . Angular momentum at t f : L f  I f  f .
Ii Ii
Li  L f  I ii  I f  f   f  i . Since I f  I i   1   f  i .
If If
The rotation rate of the student in fig. b is faster. (11-16)
 Sample Problem 11-7:
I wh  1.2 kg  m 2
wh  2  3.9 rad/s
I b  6.8 rad/s
b  ?

y-axis

Li  L f  Lwh   Lwh  Lb  Lb  2 Lwh

2 I whwh 2 1.2  2  3.9
I bb  2 I whwh  b    2  1.4 rad/s
Ib 6.8

(11-17)
Analogies Between Translational and Rotational Motion
Translational Motion Rotational Motion
x 

v  
a  
p  
mv 2 I 2
K  K
2 2
m  I
F  ma    I
F  
P  Fv  P  
 
 dp  d
Fnet    net 
dt dt
p  mv  L  I
(11-18)