1

Chapter 6
Chapter 6 : Calculation of moment of inertia of rigid bodies  related problems 6.7 & 6.8  are not in course.
Lecture : 6, 18, 22, 27, 35, example 6.13; Tutorial : 9, 17, 20, 23, 32, 38, 39
Suggested problems : 2, 3, 5, 10, 11, 13, 14, 15, 16, 24, 29, 31, 33, 37

The angular momentum of the system at time t = 0 is: Li  0   I ia   M a  M s  a 2a

The angular momentum of the system at time t = t is: L f  t   I a  t  a  t   I b  t  b  t 
Now, the sands left the inner cylinder in tangential direction with relative velocity
zero. So, it will not produce any torque on the inner cylinder. So, a  t   a ;
 L f  t    M a  M s  t  a 2a   M b  t  b 2b
From conservtion of linear momentum :
Li  0   L f  t    M a  M s  a 2a   M a  M s  t  a 2a   M b  t  b 2b
  M b  t  b 2b  ta 2a  b  ta 2a b 2b  M b  t 

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
 2

When the bug is halfway, i.e. diametrically opposite to the pivot : Lbug and Lring about the pivot :
Lbug  m.2R.  2R  and Lring  I ring 
Applying axis theorem : I ring  MR 2  MR 2  2MR 2
2Rm m
 m.2R.  2R   2MR 2    
4R m  2MR
2 2
R  M  2m 

W .r.t. the figure :With reference to the plane of the slope :

Addition of vertical forces : N1  N 2  Mg cos     1
Addition of horizontal forces : f 1  f 2  Mg sin      2 
Torque equation about CM :  N 1  N 2  l2   f 1  f 2  l1  0
 N1  N 2   f1  f 2  l1 l2    Mgl2 sin  l1       3 
Solving 1 and  3  : N1  Mg  l2 sin   l1 cos   2l1 and N 2  Mg l1 cos   l2 sin   2l1

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
 3

With reference to the fig.Cond . of Equillibrium :

Total vertical force  0;Total Horizontal force  0
m 2
Total torque  0; So, N1  N 2  Mg  0; f1  f 2  0
R
d d
Torque about the CM :  N1 .  N 2 .   f1  f 2  L  0
2 2
d m 2 L 2m 2 L
  N1  N 2    f1  f 2  L   N1  N 2 
2 R Rd
1 2M  2 L  1 2M  2 L 
 N1   Mg   and N 2   Mg  
2 Rd  2 Rd 

Since the CM of the rod is not at the center of the rod, so, normal reactions would be different
on the roller. Let N1 and N 2 are the normal reaction on the left and on the right roller.
Therefore, torque about the contact point of the rod and the left roller:
 left    l  x0  Mg  N 2 .2l  0 ( because there is no resultant torque )
Mg  x  Mg  x 
 N2   1  0  ; Now, N1  N 2  Mg  N1   1 0 
2  l  2  l 

M g d 2 x0 g
Net force  frictional  acting on the rod :  N1   N 2   x0  M  
l dt 2 l

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
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6.10. Here,  Fx  N1 cos 450   N 2 cos 450  N 2 cos 450  N1 cos 450
N1  N 2
   N1  N 2   N1  N 2        1 and  N1    1  N 2    1  0    2 
N1  N 2
F y   N1 cos 450   N 2 cos 450   N1  N 2  cos 450  mg  N1    1  N 2    1  2mg    3 
mg    1 mg 1    2mgR
Solving, N1  and N 2  ;Torque :   N1  N 2  R   5.7
2    1
2
2 1   2
   2  1

 a  W .r.t. the figure,   Tl2  m1 gl1  T  m1 g l1 l2  ; m2 a  m2 g  T ' and  m3a  m3 g  T '
2m2m3 g
 a   m3  m2  g  m2  m3  and T '  ;Condition of equillibrium :
 m2  m3 
l1 2  2m2m3 g 4m2m3l2
T  2T '  m1 g   m1l1 
l2  m2  m3   m2  m3 

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
 5

 a  Since the force is along the axis of the post, therefore, there is no force along ˆ .
So, torque is zero and hence angular momentum about the center of the post is conserved.
Initially, m is at distance r from the center, and is moving with tangential velocity  ˆ . 0

So, Li  m0 r and L f  m f rf  m f R  m0 r   f  0  r R 

Sin ce external force is acting , so, linear momentum and KE are not conserved .
 b  In the 2nd case, the force on m is acting the contact point between the post and thread.
Since there is no displacement where the force is acting , so the work sone is zero and KE
is conserved .So,  f  0 . However, the angular momentum L  r  m . r and  are not  ' r
to each other.

6.14.  a    mg  l 2  ;  b    I  1 3  ml 2  mg l 2      3g 2l 
 c  a   l 2    3g 4  ;  d  F  mg  ma   mg 4 


6.15. MI of the complee system : 1 2  MR 2  Ml 2  1 2  MR 2  M R 2  l 2
Torque acting on the system :   Mgl sin  and   I    R  l   M   R
2 2 2

 l 2  M   Mgl

    Mgl  R  l  M    0       0  T  2  R  l  gl
2 2 2 2 2

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
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6.16.Torque about the po int of suspension :

 mgl   mgl   mgl 
    Mgl  sin      Mgl    I total   I total     Mgl    0;
 2   2   2 
1 1
I total  ml 2  Ml 2  MR 2
3 2
mgl
 Mgl I total
2 1
  and T  2 ; Here, m  0;  ITotal  Ml 2  MR 2
I total mgl 2
 Mgl
2
1 1 1
I total Ml 2  MR 2 l 2  R2 l 2  R2
T  2  2 2  2 2  T  4
2 2 2
Mgl Mgl gl gl
1 2
2l 2  l 2  R
dT 42 2 R
 2T  . 0l 
dl g l2 2

6.17 A rod of length I and mass m, pivoted at one end, is held

by a spring at its midpoint and a spring at its far end, both
pulling in opposite directions. The springs have spring
constant k, and at equilibrium their pull is perpendicular to
the rod. Find the frequency of small oscillations about the
equilibrium position.

1
Moment of inertia of the rod about the pivot : I  Ml 2
3
l l l l
So, torque equation :   I   k .  k l.l  Mg     2Mg  5kl 
2 2 2 4
1 2 l 3 3  2Mg  5kl 
 Ml     2Mg  5kl      2Mg  5kl   0   
3 4 4Ml 4Ml

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6.18.Torque about the po int of suspension :

 mgl   mgl   mgl  1 1
    Mgl  sin      Mgl    I total  I total    Mgl   0; I total  ml 2  Ml 2  MR 2
 2   2   2  3 2
mgl
 Mgl I total
 2 and T  2 ;When the disk is attached via a frictionless bearing it cannot
I total mgl
 Mgl
2
1
'
rotate about its own axis and hence is not contributing any moment of inertia. So,I total  ml 2  Ml 2
3
mgl
 Mgl '
I total
  2
'
and T  2
I total mgl
 Mgl
2

l
6.20. Here, torque of the rod when it is horizontal :   I   Mg .
2
Mgl Mgl 3g l l 3g 3g
   , Hence the linear acceleration a  .  . 
2I  Ml  2l
2
2 2 2l 4
2 
 3 
 3 g  Mg
Now, F
j
jVertical  0  Mg  FV  Ma  FV  M  g  a   M  g 
 4 

4

M 2 2 M 2
Again,  Fi Horizontal  0  FH  centripetial force  0  FH   
i l 2 l
l 1 Mgl Mgl 3g 3gl
Now, from energy conservation : Mg sin 300  I 2  2    ;2 
2 2 2I 2
2 Ml 3 2l 8  
2 M 2 2M 3gl 3Mg
 FH    . 
l l 8 4

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
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6.21. Torques about the center of the cylinder due to the friction force f :
fR  I   1 2  MR 2 . ; Condition for rolling without slipping , a  R .
 f   1 2  MR.  1 2  Ma
Equation of motion  ' r to the slope : N  Mg cos   0
Equation of motion to the slope : Mg sin   f  Ma  Mg sin   1 2  Ma  Ma
 g sin    3 2  a  a   2 3  g sin 
Now, f   N  f   Mg cos   1 2  Ma   Mg cos   1 2  a   g cos 
  1 2  2 3  g sin    g cos   tan   3 

 a  Radial equation of motion =constant  :Fr  0  m  r  r 2   r  r 2  0

Take trial solun : r  t   r0 et . Put it in the equ.:  2 r0et   2 r0et  0
 b  Force on the bead : Normal reaction : N  N  m  r  2r   2mr  2m 2 r0 et
 c  Power : P  t   N  Nr  2m 2 r0 et . .r0 et  2m 3 r02e2t
Total KE energy : E 
1 2 1
2 2
 1

m  m r2  2  m r 2  r 2 2
2
 
E
1
2
 
m  2 r02 e 2t  r02 2 e 2t  E  m 2 r02 e 2t  P  t  
dE
dt
 2m 3 r02 e 2t

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
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6.23. Let, ' dx' is the dis tan ce moved down by m and ' dy' is the dis tan ce moved up by M .
Let d be the angle through which disc rotates along clock wise direction which is  ve.
dx( down ward )  dy( up ward )  R.d ( clock wise )
d dx dy
 Rd  length moved by the tape  dx  dy  R    R  x  y  a  A
dt dt dt
1
Now, mg  T  ma      1 and Mg  T  MA      2  and TR  I   MR 2 ,
2
MR MR
where, TR is the torque on the wheel dueto the rope.T  ; Put a  R  A and T  we have
2 2
MR M  MR
mg   m  R  A   mg    m  R  mA and Mg   MA
2  2  2
 3m  M   M m  4Mg
Solving for A and  ,we have, a    g; A  g and  
 M  3m   M  3m  R  M  3m 

6.24. Let initial length of the rope is l. If the rotation is  , then at time instant t :
x  t   l  2R  x  a  2R  2R    a 2R; Factor 2 in 2R is due to the both the drum.
1 1 1  a  1
For lower cylinder : Mg  T  Ma and TR  I   MR 2  T  MR  MR    Ma
2 2 2  2R  4
1
 Mg  T  Ma  Mg  Ma  Ma  a   4 5  g
4

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
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6.25.From conservation of energy :

1 1 1 1 2 2 7
Ei  M02  I  2  M02  . MR 2 . 02  M02
2 2 2 2 5 R 10
7 702
E f  Mgh  Mgl sin   Ei  M 02  l 
10 10g sin 

1 1
6.27. Torque equation : Fb  fR  I  MR 2  MRa     1
2 2
 R
Ma  b  
 2 3 MaR F  3 MaR 
Force equation : F  f  Ma      2  ; Solving : f  ;F  ;    Mg
R b 2 R b f  2 R  b 
F 3 R 3 R Mg
Under no sliping condition : f   Mg   F
f 2 b R 2 b R
2 2

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1 1
MR 2  MR 2     1
A
6.29. a  Torque equation : Tb  I   Tb 
2 2 b
where, A is the linear acceleration of the Yo  Yo.
2Tb 2
From,1 , A 
MR 2
Forceequation : Mg  T  MA      2 
 2Tb 2   2b 2   2b 2  MR 2  MgR 2
 Mg  T  MA     T 
  T  1 
 MR 2    T 
 MR 2   ; Sol ving : T 
 MR
2
     2b 2  MR 2
 b When Yo  Yo changes the direction, the momentum change is M     M    2M within
the time interval t. So, in t time ins tant the direction changes from  ve to  ve, i.e.  .

So, t    t  . From the defination of impulse : Impulse  Force.t  2M

2M  2M  2M .b. 2Mb 2
 Force    
t   
From conservation of energy : Mgh  energy at the lowest po int from where the Yo  Yo turns.
1 1 1 1  1  4 gh
 Mgh  M  2  I  2  Mb 2 2  MR 2 2  Here,I  MR 2    2  2
2 2 2 4  2  2b  R 2
2Mb 2 8Mghb
 Av. Force  
 
 2b 2  R 2 

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
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6.30. When the ball is sliding, it has only linear velocity  CM
initial
; When the ball is rolling,
it has linear velocity CM
final
and also angular velocity  .From conservation of angular momentum :
2 CM   final
final
2 2 2
Li  L f  MR initial
CM  MR final
CM  I   MR final
CM  MR   MRCM  MR
2 final
  MR  MR CM
5 5 R  5 
5 initial
 CM
final
 CM
7

1 1
6.32. Li  I 0  mR 20 and L f  mR 2 f  I  f  mR 2 f  MR 2 f ; Sin ce there no external force,
2 2
1 1 
so, torque  0. L is conserved . Li  mR 20  L f  mR 2 f  mR 2 f   f  0
2 2 3

6.32. Let the frictional force acting between the two wheels is f . Linear velocity of the wheels surfaces
must be same.  RR  r r     1 where, R and r are the angular speed of the wheel with radius
' R ' and ' r ' respectively. So, R  0   R t where  R is the  acceleration of the bigger wheel and 0 is its
MR 2 2f
initial speed . Now, torque due to firctional force : fR  I R  R  R  R 
2 MR
2f
R  0  t      2  ; The other wheel starts from rest , So, r   r t
MR
2f
Again the torque on the smaller wheel due to frictional force : fr  I r  r   r 
mr
2 ft  2f  2 ft 2 ft  1
1
 r   r t  ; From equation 1: RR  r r  R  0  t r  0    
mr  MR  mr R M m

0 RMm 2f 0 m 0 M
 2 ft  and therefore, R  0  t  0  
M m MR M m M m

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
 13

6.33. The problem is based on conservation of angular momentum. Since there is no external
I 0
torque is acting on the system, so, Li  L f ; Here,Li  I 0 and L f  I0 f  mR f  f 
I0  mR
 means, the mass will gain angular momentum from the cone. From conservation of KE :
1 1 1 1
KEi  I0 2  mgh  KE f  I0 2f  mv 2f  mR  2f  v f  ??
2 2 2 2

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
 14

6.35.Under equillibrium condition, CM of the Cube and the drum must will be on a vertical line.
The cube always will be in contct with the drum. When the cube will rotate on the drum, the po int
of contact will be the junction po int of the base of the cube and the radius of the drum.
So, the angle created by the base line of the cube and the radius of the drum is 900. Let the angle
produced at the new position of the cube contact po int with the initial position and the center of the
drum is . So, the weight vector of the cube also will rotate at an angle .
L
So the horizontal shift of the CM of the cube is sin  and the shift of the contact po int is R sin .
2
L
As long as , sin   R sin  or L  2 R, the cube will come back to its initial position.
2

maa  mbb ma .0  mb0 mb0

6.36. V  VCM   
ma  mb ma  mb ma  mb
la mb l l m  ma ma l mbl
Now, ma la  mblb    a b  b  lb  and la 
lb ma lb ma ma  mb ma  mb
mbl m  mb ma  mb mb0 
W .r.t. CM ref frame :V  la    V a  .  0
ma  mb mbl mbl ma  mb l
02 mbl m m 2
Tension : T  ma 2la  ma . .  a b . 0
l2 ma  mb ma  mb l

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
 15

6.37.  a  The complete system is lying on a frictionless x  y horizontal plane.

Let the velocity of the ball after collision is  f and V is the velocity of the rod .
So, from linear momentum conservation : m0  m f  MV     1 and
from angular momentum conservation : m0 .l  m f .l  I 0       2 
1 1 1 1
From mechanical energy conservation : m02  m2f  MV 2  I 0 2     3
2 2 2 2
1 1 2
I 0 about CM of the rod : M  2l   Ml
2
12 3
From 1 : V 
m
M
 
 f  0 ; From  2   
m
I0
 
 f  0 l ; Put these values in equation  3 , we have

m2 1 m2
1 1 1
   
2 2 2
 m02  m2f  M 2  f  0   f  0 l
2 2 2 M 2 I0
m2 m2 m2 3m 2 4m 2
         
2 2 2 2 2 2 2
 m02  m2f   f  0   f  0 l  m2f   f  0  2
 f  0 l  m2f   f  0
M I0 M Ml M
 4m  8m  4m 
4m
 
2
 02  2f   f  0  2f 1     f 0  02 1  0
M  M  M  M 

 4m  4m  2  8m   64m 0  42 1  16m 

2 2 2 2
8m  8m 
 0   0   4 1 
M 
1
M 
0
M
0
M2
0
M2 
M M     
 f  
 4m   4m 
2 1   2 1 
 M   M 
8m 64m 2 02 64m 2 02 8m 8m 8m
 0  2
 4 0
2
 2  0  20 0  20  0  20
M M M M M
   or M
 4m   4m   4m   4m 
2 1   2 1   2 1   2 1 
 M   M   M   M 
 4m   4m 
1  M  1  M 
 f      or   ;  cannot be   . So,    
0 0 f 0 f
  : Please check the calculation
0
 4m   4m 
1  M  1  M 
   
 b  Dueto the pivot forces, linear momentum linear momentum is not conserved , but angular momentum
and mechanical energies are conserved .

From the conservation of angular momentum : m0 .2l  m f .2l  I    

2ml 0   f  ; I  1 M  2l 2  4Ml 2
I 3 3

  
2
1 4 Ml 2  2ml 0   f 1 12m 2l 2
1 1 1 1 1
 
2
m02  m2f  I 2  m2f  .
From energy conservation : .  m2f  . . 0   f
2 2 2 2 2 3  I  2 2 4Ml 2
 
1 3m 2  3m  6m0  f  3m 
1 1
 
2
 m02  m2f  . . 0   f  2f 1     02 1  0
2 2 2 M  M  M  M 
2
6m0  6m0   3m  3m  2  3m   3m 
    4 1  1 0  6m0  2 1  M  1  M 
M  M 

 M 
 M  M
0
       
 f     f  0 or  0 f 0
 3m   3m   3m   3m 
2 1   1  M  1  M 
M   M 
2 1
     

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
 16

6.38. A rigid massless rod of length L joins two particles each of mass m. The rod
lies on a frictionless table, and is struck by a particle of mass m and velocity vo , moving
as shown. After the collision, the projectile moves straight back . Find the angular
velocity of the rod about its center of mass after the collision, assuming that
mechanical energy is conserved .
Let VCM is the velocity of the center of mass of the rod ( AB). Since no external force
is acting on the system, therefore, momentum is conserved . Pi  Pf

 mV0  mV f  2mVCM  V0  V f  2VCM     1

Sin ce there is no external torque, so, angular momentum about CM is conserved : Li  L f
2
L L L L
 mV0 sin 450  mV f sin 450  I rod    mV f sin 450  2m     V f  2 L  V0    2 
2 2 2 2
L
Compearing equation 1 and  2  , we get , VCM  and V f  2 L  V0 . From energy conservtion :
2
 L  1  L2  2
2
1 1 1
mV02  mV f2   2m VCM
1 1
  1
  2m  
2
2
 I rod 2  m 2 L  V0    2 m  
2 2 2 2 2 2  2  2 4

1 2 2 7 4 2V0
 V02  2L2 2  V02  2 2 LV0  L22  L   L2 2  2 2L V0   
2 2 7L

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
 17

L
6.39.  a  Let M  m for simplicity. Position of center of mass of the rod : above the ground .
2
L
 Position of center of mass of the rod  boy : above the ground .
4
Velocity of the center of mass of the system after collision from momentum conservation relation :
m0
m0   M  m Vcm  Vcm 
M m
After collision the combined system will rotate in anti  closkwise direction about the new CM .
L  ML L
If new CM positionis at a height z from ground , then, mz  M   z   z   for M  m
2  2  M  m 4
So, from conservation of angular momentum about the new CM is : m0 z  I rod
'
 about new CM
 ML2 L  
2
ML2  M  4m 
I '
 MI of the rod  boy system  I rod  I boy about new CM    M   z     mz  
2
 
12  M  m 
rod
 12 2  
6m0

 M  4m  L
 b  Let the point P is at rest due to the resultant effect of the rotational and translational motion
of the rod  boy system. Let the point is ' x ' above the new CM .

So, x  VCM 
m0
x
m0

m0

 M  4m  L  M  4m . L
M m  M  m   M  m 6m0 M m 6
ML M  4m L 2
So, dis tan ce from the boy is : z  x   .  L
2  M  m M  m 6 3

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
 18

6.40. Just before collision, let the velocity of CM is i .

1 1
So, KE  Ei  M i2  kb 2 and angular momentum about the contact po int,Li  M i R
2 2
Collision is inelastic and hence KE is not conserved . But immediately after collision
the sin ce the force is acting at the contact po int, so, torque about that po int is zero.
But the system has angular momentum due to the motion of the CM about the contact
po int and hencethe angular momentum should conserved . At this moment the MI of
the wheel about the contact po int is : I 0  MR 2  MR 2  MR 2  2MR 2 and L f  I  f
2
1  Lf  L2f
 L f  2MR  f ; KE : E f  I  2f  MR 2 2f  E f  MR 2 2f  MR 2 
2
2 
 E f 
2  2MR  4MR 2
L2i M 2i2 R 2 M i2 1 1 1 1
Sin ce, Li  L f  E f  2
 2
  . M i2  Ei  kb 2
4MR 4MR 4 2 2 2 4
1 M i2
1 1 b
If the compression is b' before it stops, so, kb' 2  E f   kb 2  b' 2  b 2  b' 
2 4 4 2 2
b
Therefore, it will move upto b' before it stops,i.e. l  b'  l  from the wall.
2

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
 19

Motion involving both rotation and translation

L in the Motion Involving Both rotation and Translation

Motion of a cycle wheel : L   rj  m j rj ;
j

Here, rj  RCM  rj' and rj  RCM  rj' ;rj'

is the tangential velocity and  ' r to rj' ;  rj'   rj'ˆ

   
 L   RCM  rj'  m j RCM  rj'   RCM  rj'  m j CM  rj'
j j
   
 
 RCM CM   m j   RCM  m j rj'    m j rj'   CM   m j rj'  rj'  
j j  j  j

j j
 
Now :  m j rj'  m j rj  RCM   m j rj  MRCM  0, because,
j

RCM   m j rj M ; So,  m j rj' 0 and hence,  m j rj' 0

j j j

Now, RCM CM  kˆ  RCM sin  CM  kb

ˆ  and   b
CM CM

 
 L   Mb 2 kˆ   m j rj'   rj'ˆ   Mb 2 kˆ    m j rj' 2 kˆ
j j
 
1
 L   Mb 2 kˆ   I0 kˆ  bM CM kˆ  Mb 2 k;
ˆ   b ;
CM
2
1 3
 L   Mb 2 kˆ  Mb 2 kˆ   Mb 2 kˆ
2 2

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
 20

Torque in the Motion Involving Both rotation and Translation

In case of Rotational  Translational motion motion of a cycle wheel :

j j j
 
   rj  f j    rj'  RCM   f j   rj'  f j   RCM  f
j

 
  rj'  f j  RCM  F   0  RCM  F   0  F  RCM sin   kˆ   0  Fbkˆ
j

dL d ˆ d
L   Mb 2 kˆ   I 0 kˆ      I0 k  Mb 2 k̂
dt dt dt
    I0 kˆ  Mb 2 kˆ   I0 kˆ  Mb  b  kˆ   I 0 kˆ  Mbakˆ
    I0 kˆ  Fbkˆ , So, if the rotation about the CM , then, RCM  F  0,
and it will be only    I  k. ˆ Here,   means clockwise rotation.
0

KE of the wheel due to rotational  translational motion :

1 1
K   m ji2   m j ri 2 ; Here, rj  RCM  rj' rj  RCM  rj'
2 j 2 j
1

1
  
2
  j  CM   'j  CM   rj' ; K  m 
j i
2
 m j CM   rj'
2 j 2 j
CM
2
2 1 1
K
2
j m j  2 j m j rj' 2   j m j rj'  2 MCM2  2 I0 2
  Linear KE of CM    Rotational KE of CM 

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
 21

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
 22

Work  Energy Theorem : Rotational Motion

As per the Work  Energy in translational motion :
rb
1 1
Work done : W   F .dr  mb2  ma2  U  ra   U  rb  ; In
ra
2 2
rotational motion, torque is equivalent to force in linear motion.
b b   
d b
d b b
1 
W    .d   I .d   I .d   I .d   d  I 2 
a a dt a dt a a  2 
b
1  1 1
 W   d  I 2   I b2  I a2  K b  K a
a  2  2 2

b
1 2 1 2
The energy equation for the rotational motion is :W    .d  I b  I a
a 2 2
1 
2
1 1
 fb  I  2 ; Here, b  l; l  h sin  ;    b ;  fb  fl  I 2  M  2
2 2 b 4
 h  1 1 4gh
  Mg sin   f  l   Mg  f  l  Mgh  fl  Mgh  M  2  M  2   
 l  4 2 3

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]
 23

[Type here] Professor Debashis Bandyopadhyay, Department of Physics, BITS Pilani [Type here]