| Chapter 7 rotational Equilibrium and Rotational Dynamics tthe end ofthis chapter, you should be able to: 1, Calculate the moment of inertia about a given axis of single-object and multiple-object systems. 2. Exploit analogies between pure translational motion and pure rotational motion to infer rotational motion equations (c.g. rotational kinetic energy, and torque-angula rotational kinematic equations, celeration relation). 3. Calculate magnitude and direction of torque using the definition of torque as a cross product, 4. Describe rotational quantities using vectors. 5, Determine whether a system is in static equilibrium or not. 6. Apply the rotational kinematic relations for systems with constant angular accelerations, 7. Apply rotational kinetic energy formulae. 8. Solve static equilibrium problems in contexts such as, but not limited to, see- saws, mobiles, cable-hinge-strut system, leaning ladders, and weighing a heavy suitcase using a small bathroom scale. 9; Determine angular momentum of different systems. 10. Apply the torque-angular momentum relation. 11. Recognize whether angular momentum is conserved or not over various time intervals in a given system. 7.1: Basic concepts, Equations and Problem Solving Strategies Moment of : | ‘ertia |“ A rigid body is a solid composed of a collection of | Particles. These particles remain static relative to each | other and relative to the axis of rotation. Regardless of the forces acting on a rigid body, it maintains its original | shape and size, Newton’s first law of motion as applied to rotating systems states that unless hindered by an external influence, a rigid body rotating about a fixed axis will —___temain rotating at the same rate within the same axis (ie. | 135| keep rotating and their state of motion). at tend to rotate w! jects. th ) te fae bjects will maintain nonrotating ol defined as the quantity that f inertia is i @ Moment o n object’s rotational state of impedes changes in al motion. Foradiscreet number of particles, the moment Tis: of inertia [= Y mr? Where mi is the mass of the ith point particle and rj is the distance of the ith particle from the axis of rotation. © Whereas a rotating rigid body with a continuous mass distribution gives: l= [eam = [reav Angular position, angular velocity, and angular acceleration © The angular coordinate @ describes the rotational position of the body. When a body rotates, a line can be drawn from the axis of rotation to any point within the body. With the body as the reference frame, this line is fixed. Hence, the line rotates with the body. © The angle @ that this line makes with respect to the +x- axis is called the angular position of the body. © We measure the angle in radians. | radian is defined as the angle subtended at the center of the circle by the arc whose length equals the radius of the circle. The relation between radians and degrees is: ® radians = Fars Baeorees © The are length of a circle is equal to the radius of the circle multiplied by the angle subtended by the are: s=r6 The angular displacement of the rotating body equals the change in its angular position. ‘© The time rate of change of the angular position describes the rotational motion of the rigid body. * Define the average angular velocity of the rigid body as the net displacement divided by the time elapsed. The ee tend Subscript z tells us that the body rotates about the z-axis? 136Ae Ge i Jave-z = Fe e The instantaneous angular veloci velocity is the derivative of the respect to time: ity or simply angular angular position with a, = jin “= 48 aso At dt © In some cases, the axis of rotation may not point along the z-direction or it may change with time. In this, the angular velocity becomes a vector quantity with the following components: B= a,lt oy} + ok ‘Therefore when the body rotates about the z-axis, then @ has only one component. © The right-hand rule is a convenient tool in determining the direction of the angular velocity. Defining the z-axis as the rotation axis, curl your fingers of your right hand in the direction of rotation, your thumb points in the direction of the angular velocity. Axis! Axis| Spindle @ (0) * When a body rotates counter-clockwise along the XY plane, by the right-hand rule, wz is positive since it points along the positive z-axis, when a body rotates clockwise, w, is then negative. © The average angular acceleration is the ¢ angular velocity per unit of time: Aw ave. pe A hange in~® The instantancous angular acceleration or simply angular acceleration is the derivative of the angular velocity with respect to time: Aw, dw, a, = |im—=—-=—— at+o At = dt + The angular acceleration may also be expressed in terms of the second derivative of the angular position with respect to time: | _ do on ae ‘© Analogous to translational motion, when a rigid body | rotates counter-clockwise about the z-axis, when the angular acceleration is positive, then the angular | velocity increases; and when the angular acceleration is | negative, then the angular velocity decreases. Rotational kinematics For any rigid body rotating about a fixed axis, suppose that the angular acceleration is constant, we can find expressions that relate angular displacement, angular | velocity, and angular acceleration. | © Deriving the equations for rotational kinematics would take a similar approach from its translational counterpart. © When the angular acceleration is known and we start our | measurement at to = 0, then the angular velocity can be obtained from: Wz = Wo, + a,t | We can then calculate the angular displacement directly | from the angular acceleration and the time elapsed by: 1 0 = Woz + 5 axt? | © With only the angular displacement and angulat | acceleration known, the angular velocity is’ | 3 = wi), + 20,00 . | Lastly, when the angular acceleration is unknown, WE | find the following relation: | 138— Bridging — linear and rotational variables of motion 1 Ag 2 (@, + wea) When a rigid body rotates about a fixed axis, each particle making up the body moves in a circular path at a distance r from the axis of rotation. The tangential speed of each particle is directly proportional to the angular speed of the rotating body. Taking the time derivative of the arc length, we obtain the following relation: v=Tw ‘At any given angular speed of a rotating rigid body, the tangential speed of the particles increases with distance measured from the axis of rotation (all particles would have the same period of revolution, but the particles located farther from the center would cover a larger path). ‘The translation acceleration and angular acceleration are also related by the factor r: a=ra When a central force is present (such as the gravitational pull of the sun), then the centripetal acceleration of each particle in terms of the angular speed is: a, = wr With tangential and centripetal components of acceleration present, the linear acceleration of each particle making up the rigid body equals the vector sum of the tangential and the centripetal components of acceleration. \Torque “and its [elation ~~ with angular |*eeetion when it causes a clockwise rotation. Torque is the rotational counterpart of a force. Just like net force is to translational motion, a net torque causes achange in the rotational state of motion of a rigid body, that is, torque causes angular acceleration. Torque depends on three parameters: a. The magnitude of the force b. The direction of the applied force 2 ¢. The distance from the axis of rotation to the line of action of the force. When the axis of rotation lies along the 2-axis, torque }S positive when it causes a counter-clockwise rotation and is ne; 139Pe te | Static Equilibrium [ite ate GL ied ame fied, then @ ied © The magnitude of the torque is equal to the lever arm multiplied by the force. The lever arm is the distance from the rotation axis to the line of action of the force: T=FI By dimensional analysis, the unit of torque is N-m, Note however that this unit does not translate to Joules as torque is different from work and energy. © Call 7 as the position vector directed from the axis of rotation to the point of application of the force. Suppose that the direction of the force varies while the position vector and the magnitude of the force are held fixed. a. When the applied force is perpendicular to 7, then the body rotates with maximum torque. b. When the applied force is parallel to 7, then no rotation occurs. cc. When the applied force makes an angle 9 with ?, then the body rotates but with lesser torque. © The torque of the force with respect to the axis of rotation is given by: @=7XxF The torque that causes a body to rotate about the z-axis only has a single component which can be evaluated using the cross product: t, = (xB, — YER Where x and y, and F,and F are the x and y components of the position vector and the force, respectively. In general, the torque is directed perpendicular to the Position vector and to the force. * To find the direction of the torque using the right-hand rule, point your fingers in the direction of the position vector then curl them in the direction of the force. Your thumb then points in the direction of the torque. ; © Newton’s Second Law as applied to rotating rigid bodies states that the net torque on a rigid body equals the momentum of inertia multiplied by the angular acceleration: yg = ley If the following conditions are to be satis! rigid body is said to be in equilibrium: Peo e022 ott 140 -pore Moreover, when the body is at reover, ts fest; ites da ae equilibrium. St it is in static The illustrations below show whether a bod: . pepe Ta is i static equilibrium or not. oo a. The body is in static equilibrium: Equilibrium conditions: hhas no tendency to start moving as a whole. Net torque about the axis = 0, so body at rest has no tendency to start rotating. Axis of rotation (perpendicular to figure) b. Although the net force is zero causing no translation, the body has the tendency to rotate: First condition satisfied: , so body at rest Net force Fe has no tendency to start moving as a whole. There is a net clockwise [F_ torque about the axis, so body at rest will start rotating clockwise. c. The body will not rotate but has the tendency '© accelerate along the direction of the net force. SS. 141First condition NOT There is a net F upward force, so body at rest will start moving upward. Sec Net torque about the axis = 0 so body at rest has no tendency to start rotating. Work done by a torque and rotational kinetic energy © Under the influence of a centripetal force, we have shown previously that the translational work done onto the particle is zero. * Consider a constant force applied tangent to the rim of a disc that has the tendency to rotate. Setting the z-axis as the rotation axis of the disc, we define rotational work as the product between this force and the angular displacement of the disc: Wrot = 1288 When the torque changes with angular position, then the total rotational work done equals the integral of the torque with respect to an infinitesimal (very small) displacement. & Wroe = [ rx(@)d0 a * We can also introduce the work-energy relation between rotating rigid bodies where jiu? is called the rotational kinetic energy of the body. This gives us: 1 1 Wroe = lof ~ 5 lag The total rotational work done equals the change in the rotational kinetic energy of the body. * As an example, suppose that a disc initially rotates counter-clockwise. When the net rotational work done is positive, then the rotational kinetic energy increases and the disc spins faster; when the net rotational work done is negative, then the rotational kinetic energy decreases and the disc slows down. ° In the case of rolling without slipping, such as a ball rolling down an inclined plane, the total kinetic energy | 142netic energy due to the motion of oe Of the ball equals the k ‘ the center of mass plus the rotation of the particles making up the ball about the center of mass: 1 1 KEvotat = KEtrans + KErot = 7M vim +5 Tem to? Since gravity pulls the ball downward, the gravitational | potential energy is: PE = MgYcm ‘And that the total mechanical energy of the ball is: i} 1 = zen + Zlemo? +Mgyem | Angular ‘Analogous to objects moving carrying a momentum B momentum the rotational counterpart of momentum is angular momentum denoted by L. When a body rotates about a fixed axis of symmetry | such as the axis piercing through the center of a disc rotating in the xy-plane, then the angular momentum | | also has a single component and is directed in line with | the angular velocity. Call this component L, or the 2 | component of the angular momentum. | { | In general, for particles revolving about a fixed axis, the angular momentum of a single particle is: | Diet xP the Where 7’ is the same position vector defined from matt | torque-force relation, and j is the linear momen ‘ | the particle tangent to the path taken by the part angulat © In terms of the moment of inertia, the | momentum of a rotating rigid body 'S: | | alo. ve harder ia is, the In general, the larger the moment of er My body DY ® | | it is to change the state of motion o ; net external torque. ular momentum” aL | © Annet external torque causes the angu™ a net extern efore, 2 the body to change with time. Therefor" 143,c— [_ taigue 3s also defined a8 the time rate of change of \ | ly’ gular momentum: | a: | | dt | + When a rigid body rotates about any axis except fom | | the axis of symmetry, then the angular momentum in | | general does not lie along the axis of rotation. In this | | | case, although the angular velocity is constant, the | | angular momentum changes and traces out a cone. This | results to a net torque being acted onto the body which | | | then maintains the rotation. If the angular momentum | | lies along the symmetry axis, then Z is in line with 3 \ and no torque is needed to maintain rotation. | | e The law of conservation of angular momentum states that when the net external torque acting on a rigid body | | is zero, then the total angular momentum is conserved. | For a non-rigid body with varying moment of inertia, | conservation of angular momentum yields: Ioty = Ipeay And in the case of rotational collision between two | rigid bodies A and B, conservation of angular | | momentum gives us: I4@oa + Ip@op = la@sa + Iepe 7.2. Examples Example 1. A baton is made up of four particles with each end fastened by rods of negligible mass. Calculate the moment of inertia at an axis where the rods intersect. The distances from the axis of rotation to particle A (m= 300 8) and particle C (m=350 g) are both 0.5 meters whereas particles B (m = 150 g) and D (m 125 g) are separated by a distance of 0.5 meters with B located 0.24 meters from the axis of rotation. Asolution: tof inertia of a body made up of a discreet number of particles is: en ym ies 1 mer? = mang + mars + mere + mors is i location of the point mass. Thi sured from the axis of rotation to the | pe s. The wis mene Hence, te moment of neta is I = 0.3 eg (05 m)? + og (05m)? + 15 kg (0.24 ‘m)? +125 kg (0.26 m)? = 0.18 kg-m’. ample 2: Four particles located at the corners of a square are connected by rods of negligible mass. The length of each side, that is, the distance between adjacent particles is 0.5 meters. Particle A is 1 kg, particle B is 3 kg, puticle Cis 2.5 kg, and particle D is 6 kg. All particles are located along the xy-plane with the line passing through C as the chosen axis of rotation. Find the moment of inertia about the z-axis. x, @ ® ei @ x Solution: 29 wei Z-axis pases through C; then the moment of inert of patie fom the z-axig 7 long the axis of rotation where rc is zero. In order to find the na 05 05m): rectly to particle B ot rp, note that the coordinate of particle BX iiegt we can express rs in terms of ra and rp. We get: Te OSmsyen OF inertia therefore is: I= 1kg (OS my +3kg (Cl + 6kg (0.5 m)? = 3.25 kgm?. Bram, s netty: = 5.8 100-g spherical hollow ball is set to rotate about it of abo he diameter of the ball is 0.1 meters. Calculate its moment of "S symmetry axis. Solution: Reale Sntinuous mass distribution, the moment of inertia reads: I= frtdm = freodA 145Where odA is a surface area element of a hollow sphere o: arface ara density. We can puto out of the integral since the bal ieee Moreover, the area element dA fora spherical shell can be expounded to Rsing, dade Moreen from r since the former is the radius of the shell which is eonstan Rf distance of cach point mass from the axis of rotation, The later varies since tee are particles that are located closer to the axis. We can then find a relation between r PY hich turns out to be r= Rsind. Now that we identified the variables of integration, we can proceed with the setup: r? = (Rsin0)* dm = adA = oR?sinodédp © a 1 = oR? [ cosinay2sinoao | dp= anor’ | sin? 6 d6 0 a ‘The last integral can be evaluated by letting w = cos@ (which I leave it to you as an exercise). This gives us: 4) 8 1 = anon* (8) = Son! We also note that the surface area density is equal to the total mass divided by the surface area of the sphere. Therefore: M 2 ) = =MR? 8 4 ra gnk* (Ga) 3 Hence, the moment of inertia of the ball is ] = : (0.1 kg) (0.05)? = 1.667 x 10-*kgm?. Example 4. A fruit blender manufactured by a certain company is being tested. The angular position of the blender is: rad rad nad aad : ; 7 24, mut 0 = (SE) (12 )e + (ost) +27 Suppose that ti = 1 sand t2 =3 s. ay A Find the angular position of the blender at both times. im Sind the angular velocity of the blender at both times ne a the angular acceleration of the blender at both times. ‘ - Suppose that a food particle is stuck at a distance 5 cm from the axis of Tolation. Find the distance that this particle covered during this time interval. Solution: - F The angular position at ty I sis: . Ot = 1) = (6 PAd rad id rad =e (SSS) r+ (124) as +( se) ar +2— Nee = 8.7 radians 3s, the angular position of the particle is: 146rad’ rad’ % ( sea 2, rad eoore Ss) +(0.5 z (3) +2 = 443.9 radians . ; p. The angular velocity is the derivative of the angular position with respect to "time. Differentiating the given expression, We get: \ rad rad. , rad. \og(t) = (20S) +Q6upE HAGE ‘The angular velocity atts = Leis wft=D= (20°) e+ (a6) P+ (i) 1= aor ‘Andat t) = 3s we have: i fl ~ (oq 724) 93 rad\ 2 ( rad), _ rad ost =3)= (20Sr)3 +(36 =)s+(2 a) 3 = 5754 C. The angular acceleration is the derivative of the angular velocity with time. Hence, ee | _ feqtaty 2k (7 2%at rad. At) = (60S) B+ (12S )e+ 0D The angular acceleration at ti = 1 sis: rad rad rad rad a,(t = 1) = (60 =) r+ (72 =) 14 (5) = 682 And at = 3 we have: rad rad rad rad = = ong — —)= a a,(t = 3) = (6075 )3 x (72 = )3 ‘ (a 5 ) = 5626-5 ‘The angular displacement of the blender in the given time interval is 48 = 443.9 rad — 8.7 rad = 435.3 radians. The distance covered by the food particle during this time interval can be obtained from: ss =1r0 = 443.9 radians (0.05 m) = 22.2 meters Example, A centrifuge turing at 20000 rpm is suddenly tumed off. Before it comes to a stop, the centrifuge spins for 1500 revolutions. ‘A. Calculate the angular acceleration of the centrifuge assuming 1° be constant. B. How long would it take for it to stop? Solution; We first convert 20000 rpm to rad/s. In doing so we 8¢t rad ora = 20000 rpm ( minute \z radians ) = 20944 60 seconds/ \1 revolution 1500 : dians- Tevi 2 1g ra! lutions are equivalent to AB;aq = 1500 rev(2m) = 94247 147‘A. Using w* = w5 + 200 and setting the final angular velocity to zero we have: 0 — 2094.4? rad a Tae ~ 2042478) s2 = 232-71 B. From w = w, + at we have: 094.4 59 =—3971 8 = seconds Example 6. Combined translation and rotation. As a car reduces its speed uniformly from 35 m/s to 20 m/s, its tires make 100 revolutions. Suppose that the tires are 0.3 meters in radius. A. Find the angular acceleration of the tires. B. If the car continues to decelerate from 20 m/s to rest, how much time is required for this to happen? C. How far does the car go as it slows down from 20 m/s to a stop? Solution: This problem is an example of combined translation and rotation. Here, we assume that no slipping occurs and friction causes the tires to roll. A. We start by determining the angular velocity of the car using the relation v = rw with the radius of the tires known. Once known, we use the equation w= wi + 2a6 to calculate the angular acceleration. The final angular velocity is therefore w, = 22724 = 66,6774 and the initial angular velocity is w = 24 ~ 116.67. During the deceleration, the tires turn for about 100 revolutions. Converting this into radians we get: A6,aaians = 100 revolutions (2240%4.) — 200n radians. Finally, we rearrange the terms and solving for a we get : w-wh 66.67 -116.67*rad __) grad s : 268 2(2007) se CS : Since the tires are slowing down, the angular acceleration is indeed negative- a= Since we assume constant angular acceleration, we ean also use the equation %, + at and set the final angular speed equal to zero, then solve for t ae © tee OE CROSS ae eed a 729 s = 9.15 seconds .- To zi ii ihe distance covered by the car starting at 20 m/s down to a fll SP: d+ Dang ulate the angular displacement underwent by the tires from 4 © Cen ad then use x= rA8 wo calculate the distance covered by the '€ assume that the tires roll without slipping). 0* — 66.677 WC 7257 = 30486 radians % = 0.3 m (304.89) = 91.46 meters 148i Jied on a machine given by the vector F = 10.5 Ni— Lacoste ‘ Wythe eatin plore from the axis of rotation to the point where the force is applied is # = —0.3 mi + 0.5 mj. 4 A. Sketch the force vector, the position vector and the origin. B. Determine the direction of the torque using the right-hand rule. C. What is the torque vector produced by this force? Show that the direction of the torque is the same with (b). ion: soa ih te origin set as the reference point of both vectors, the force vector les along the fourth quadrant whereas the position vector lies along the second quadrant. B. Using the right-hand rule, point your fingers initially in the direction of the position vector, then curl your fingers in the direction of the force. Your outstretched thumb points in the direction of the torque. Hence, the torque is directed at the negative z-direction. Since there are no z components of the force and of the position vector, then the xand y components of the torque vanish leaving us with: ° Gj (xR, — yF,)k = [(—0.3)(—6) — (0.5)(10.5)]& = 3.45 Nm (-h) The torque is indeed directed along the negative z-direction which agrees with the right-hand rule, Example 8. Three forces have been applied to a disc of radius 0.25 m. One force : applied tangent to the rim, another has been applied perpendicular t0 © and lastly, one is applied at an angle of 25° with respect to the ee an the disc. Calculate the net torque on the wheel due to these forees 0 axis located at the axis of symmetry. Solu ts hon: ye point a B i sive since te 1, hen Bi Convention, a counter-clockwise torque is positive Fy ofthe thee the +z-axis. We use the equation t, = rFsind fo ain their vector sum to determine the net torque 149 aConsidering first the force perpendicular to the rim, this Produces no rotati and hence the torque due to this force is zero. The 10-N force oe clockwise rotation and in here the angle is 270°. Therefore the torque scr by this force is Tz = 0.25 m (10N)(—1) = -2.5.Nm. The 20.5-N force produces a positive torque since the disc tends to rotate counter-clockwise, In here, the angle is 155° and the torque gives us t,,= 0.25 m (20.5 N) sin(155) = 2.166 Nm. . The net torque is, therefore, Yt, = —2.5 Nm + 2.166 Nm = —0.334 Nm in the negative z-direction. Example 9. Consider a cable wound several times around a uniform thin-walled hollow cylinder that can rotate about the axis of symmetry. Suppose that the radius of the cylinder is 0.5 m and weighs 10 kg. A person pulls the cable with a force of 5 N parallel to the x-axis and tangent to the rim of the cylinder so as to rotate the cylinder counter-clockwise. Here, assume that the cable unwinds without slipping and stretching. A. Calculate the torque produced by this force. B. Calculate the angular acceleration of the cylinder C. Suppose that the cylinder turns for about 3.5 revolutions, calculate the rotational work done onto the cylinder. | Solution: A. The torque can be easily calculated from: t, = rFsin@. This gives us Tt, = 0.5 m (5 N)sin90 = 2.5 Nm. B. The net torque is defined as Yt, = Ia. Since only a single torque has been Produced, we equate the value obtained in (a) to solve for the angular acceleration. The moment of inertia of a thin-walled hollow cylinder is MR’. Therefore, a, = 72 = —25Nm_ _ 4 fad . MR? 10kg (OSme 7 C. Assuming a constant net torque, the rotational work done is W = 129 = 2.5 Nm (3.5 rev) (*) =55] | | | | Example 10, Consider a cable wound several times around a uniform solid cylinder of mass 30 kg and radius 0.6 m that is free to rotate about its axis of symmetry, Attached at the end of the cable is a block of mass 60 kg. The ca unwinds as the block accelerates downward in the presence of ity. A. Calculate the acceleration of the block. B. Calculate the tension on the cable. ©. Calculate the angular acceleration of the cylinder. Solution: The ac, Point along the "ation of the block is the same as the tangential acceleration of any Tim of the cylinder, 150the block of mass m, ‘Newton’s second law of motion reads: R=Tt+ (—mg) = may may = T-—mg net torque on the cylinder of radius r equals the torque sion on the string, This would then give us: | , = rT'sin90 = Ia, The moment of inertia of a solid cylinder is ” MR’. Also, the angular acceleration can be expressed in terms of the tangential acceleration and the radius of the cylinder. i A. For Next, note that the produced by the ten 1 rangent\ _ 1 rT =5MR? ae = ZMRacangent 1 And since Grangent = Gy, We can set both accelerations to just a. We therefore solve two simultaneous equations with two unknowns, namely, a and T. ; i T =5Ma (eq1) | ‘ ma = T — mg (eq.2) Solving for the acceleration we substitute T from equation 1 to equation 2. We have: i { ma =5Ma—mg i 2 Finally, the acceleration equals a = -—™2_ = ——y. The negative | m0. ne sign indicates that the acceleration is due downward. Substituting the values we get a = —7.84 m/s? B. Using equation 1, the tension on the cable is: 1 i m ret wast -7947") = -117.6N 5 Ma = 5 (30kg) ( 7845) 117 Re The tension is negative since the force that unwinds the wnward. The tension that supports the block is +1 17.6N. ylinder is due Cc. Ki inally, the angular acceleration of the cylinder is 2 = rad Bat Exam ofa Ple 11. A block of mass 10 kg rests on the left end of a lever made he i homogenous rigid plank of length 2.5 m. The fulerum isp center of mass of the rod. block at 4. Calculate the torque produced by the weight of th Passing through the pivot point. an axis 1st|. Where should a 20-kg mass be placed in order to balance the system? c. Suppose that the mass of the plank is 7 kg, calculate the normal force exerted by the fulcrum onto the plank. 4. Choose the left end of the plank to be the pivot point. Where should the same 20-kg mass be placed to balance the plank? Solution: ‘a. The center of mass of the plank is located exactly at its geometric center. Setting the geometric center to be the origin, the center of mass is at the point Xem = 0. em. Since the 10-kg block would cause a clockwise rotation, the torque due to its weight is: m Te = 1.25m (10 kg) (98 a) = 122.5 Nm , In order to balance the system, we set the net torque to zero. We have four Frees acting on the plank — the weight of block 1, the weight of block 2, the trv force exerted by the fulcrum, and the weight of the plank, then: Tei + Te2 + Ten + Tzplank = 0 ‘The last two terms are equal to zero since the forces are located exactly at the chosen axis. m 122.5 Nm + (—x(20 kg) (9.8 a) =0 Solving for x we get: x = 0.625 m to the right of the geometric center Since the forces are balanced, we use Newton's first law of motion to calculate the normal force n. Yin=0e 98 N —196N-68.6N +n n= 363.6N Choosing the left end of the plank as the chosen axis, the normal force and the weight of the plank now produces nonzero torques. In turn, the weight of block 1 produces zero torque. Se Tei + Tea + ten + Tzpiank = 0 —196 N(x + 1.25 m) + 363.6N(1.25m) — 68.6 Ni x =0.63m (4.25 m) = 0 Which agrees with our answer in (b). Example 1 iple 12, A 5-m uniform ladder of mass 15 kg is held stationary against @ Aitionless wall If the ladder is ina state ‘of impending motion when kes an angle of 65° with respect to the floor, ‘ cleans the force exerted by the wall onto the ladder. alculate the coefficient of static friction between the ladder and the ground 152a a. Solution: Eg ‘ample 13, A. 35-kg child is sitti force exerted by wall force piss | even 65° (> friction Since the ladder is uniform, then the center of gravity of the ladder is at its geometric center. We use the first and second conditions for equilibrium in order to tackle this problem. The chosen axis of rotation is at the point where the ladder makes contact with the ground. Let Fwau and fbe the forces due to the wall and due to friction, respectively. From the first conditions of equilibrium we get: Y= St (Fatt) = 0 De =nt+(-W)=0 The second condition for equilibrium is: Twatt + (—Tpriction) + Tr + (—Tweigne) = 9 weight The frictional force and the normal force are located at the pivot point. This further simplifies to: a ee (CTreiine) = 0 ™ (Fa) (sin6S) = 2.5 m (W)(sin25 Th wait) ( .5 m (W)(sin25) ne by the wall is therefore equal to Fiyqir = 34:27 N. 3127 fit condition of equilibrium, the fietional fore is equal f = TAT Wrute normal force is just equal to the ladder’s weight. Therefore" = ae he = nt of: Static friction can be obtained from: Fe(maximum) = ‘etTicient of static friction is therefore us = 0.233. is rotating ss and the Assume del the ing along the rim of a merry-go-round that ato. i \erry-g0- mae. ‘evolatens Per second about its symmetry axis. The ma that you — a -go-round are 85 kg and 8 m, respectlV ely: reat the child as cle and you can mo merry 20-T0un iting a point particle y' . Caleul: s ‘ axis aon © Moment of inertia of the system about HS db. Calculate the total angular momentum of the syste™ ofition: Solution moment of inertia ofthe child is 1 = mR? = 35 kg (8m)? = 2240 kgm. The moment of inertia of the merry-go-round is / = ; MR? = 5(85 kg)(8 m)? = 2720 kgm? The moment of inertia of the whole system is! = Icnita + Im = 4960 kgm’. by. The total angular momentum is Ly = f0o, = 4960 kgm? (0.35722) (22. rev, 2 10907.6 kg Example 14, Under certain conditions, a star can collapse into an extremely dense object made mostly of neutrons and is called a neutron star. The density of a neutron star is roughly 10'* times as great as that of ordinary solid matter. Suppose we represent the star as a uniform solid, rigid sphere, both before and after collapse. The star’s initial radius was 10° km; its final radius is 38 km. If the original star rotated once every 100 days, find the angular speed of the neutron star. Solution: ‘The moment of inertia of a solid sphere is = MR?. From the Law of Conservation of Angular Momentum, when the net external torque equals zero, then: La = Ly 1,@, = Ipwy Solving for the final angular velocity we get: ip ia 6\2 res(it) =o, (Fe) =(—_22_ | (12) = sono" Ir i (100 d) (864005) } \38 2 Example 15. An engine flywheel and a clutch plate are both connected (© 4 transmission shaft, Let the moment of inertia of the flywheel be fi its angular velocity to be «1, and let the moment of inertia of the elute plate be In and its angular velocity to be w:. The two dises have the® been combined by forces which are applied at their axes of rotation 5° = et to case any torque. The discs then reached a common fi pi ' ar velocity after “rotational collision”, Find an expression for th angular velocity, 154ylution: - ching the conservation of angular momentum, we have: Loy + Log = Lys + Lye Ty@o1 + Woz = (hh + wg — Wor + I2@o2 One ae 7.3. Exercises and Problems 1, Calculate the moment of inertia of a hollow cylinder of mass M and length L with inner radius a and outer radius b about its axis of symmetry. Calculate the moment of inertia of a rectangular plate of mass M and of length Jand width w about the following axes: a. Through one corer of the plate. b. Through the center of mass of the plate. An old-style elevator is connected to a counterweight by a cable that passes over a rotating disk that is 3.7 meters in diameter. With the cable not slipping and turning with the disc, the elevator is raised and lowered by turning the disc. a. How many tums should the disc make to raise the elevator at 0.5 mvs. b. The elevator should accelerate at a quarter of the acceleration due to gravity to start the elevator moving, Calculate the disc’s angular acceleration. c. How many revolutions has the disc spun when it has raised the elevator 5 m between floors? stant cas ‘ a constant A dise of radius 0.5 m starts from rest and accelerates Will acceleration of | rad / s2, oe & At the start, that is, when the angular velocity 1S wr ticle fon the Fiat 7 Calculate the tangential acceleration of @ P# 155il. Calculate the centripetal acceleration of a particle on the iii, Calculate the linear acceleration of a particle on the rim tis p, From rest until it has turned through 7/4 radians, i: What is the angular velocity of the disc? ii, How long will it take to reach this angular velocity? iii, Calculate the centripetal acceleration of a particle on the rim iv. Calculate the linear acceleration of a particle on the rim. c, From rest until it has turned through = radians, i What is the angular velocity of the disc? il, How long will it take to reach this angular velocity? ji. Calculate the centripetal acceleration of a particle on the rim iv. Calculate the linear acceleration of a particle on the rim. 8. The angular position of a hoop is described by the function below: rad rad rad rad’ rad é 5 4 ragy a 4 (5 \ te = 10—— act) = (102) +(047St)e +(3 =e +(-s) 2-107 Suppose that t) = 5 sand t2 = 10s. a. Find the angular position of the hoop at both times. b. Find the angular velocity of the hoop at both times. c. Find the angular acceleration of the hoop at both times. d. The radius of the hoop is 0.5 m. Find the distance covered by a particle along the rim of the hoop during this time interval. 6. A 38-cm wrench is used to loosen a nut by a 20-N force that is exerted at the end of the handle. The force is oriented 65° with respect to the handle. a. What is the torque produced by this force about the center of the nut. b. Suppose the wrench has undergone an angular displacement of 50°, calculate the rotational work done. What is the maximum torque exerted by this force? How should the force be oriented? c. 4. Same as in (b), calculate the rotational work done by this torque after an angular displacement of 50°. foe anon flywheel of mass 3 kg and radius 0.1 m can be modelled as a dis° moment of inertia equal to MR? about an axis passing through its center. To bring 2 F the starting from 1 ¢ flywheel up to a. ‘ an angular speed of 100 rad/s in 5 seconds est, 5 aye is the acceleration of the flywheel? What constant torque is needed to put it up to that speed? B- Caleutas ate Vectora:” Me torque vector of the following force (N) and position (m) Ass Bp Ns ben tt 10); F = 5t+ 107 = 060-15; 7 =—1504.39 156> 230+ 0.9) + 2k; F = 1i—-4j + 8k ost+0aj+kF 3,91 + 10k ‘A thin-walled hollow cylinder and a solid cylinder both of mass M and radius - Rare released from rest at the top of an inclined plane of height yo. Assuming they roll without slipping, use conservation of energy methods to, a. Calculate the speed of the thin-walled cylinder at the bottom of the inclined ane b. Calculate the speed of the solid cylinder at the bottom of the inclined plane. 10, A 3000-N pole pivots around a friction-free axle at its base and is supported by cable of negligible mass making an angle of 31° with respect to the pole. The pole is 10 m long and its center of gravity is located at 3 m from the axle, hence the pole is not homogeneous, The cable is attached at 2 m from the upper end ofthe pole. When the pole is raised to an angle of 45° above the horizontal while holding a 1000-N block by a massless cord of length 0.5 m attached to its upper end, calculate the following: a. The tension in the cable b. The horizontal and vertical components of the force thst the on the pole axte exerts AG « rotating onsider four particles that are connected by a rod of negligible mass a wane with a constant angular velocity @z = 10" Caleutat ‘he kinetic energy of each particle Fie le the total kinetic energy of the particles using vetoes Use ty ¢ moment of inertia of the particles about the oxis she kinets east) moment of inertia obtained from (e) and eH of the system via KE =} pes Iw? 15712. Consider the rotational collision problem in Example 15. Suppose that the mass of the flywheel is 5 kg and has a radius of 350 cm; the mass of the ae is 2.3 kg and has a radius of 220 cm. Initially, the flywheel turns at arate of I ‘ tad/s, the clutch plate on the other hand spins at 230 rad/s. Assuming them to be discs of mass M and radius R, a. Calculate the final angular velocities of the objects after contact. id b. Calculate the total kinetic energy before and after collision. What di you observe? 158