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Chapter 3 The Center of mass

Exercise m2
 m r

i i
 
Mrcm =  mi ri
rcm = i
System of particle – Rigid body m1
z
CM
mn
m i
i
i
Rotation r1
rcm

M =  mi
ri mi Total mass
of the
i system
Division of Biomedical Engineering, Faculty of Applied Science, Ho Chi Minh City University of Technology, O y
268 Ly Thuong Kiet street, District 10, Ho Chi Minh City, Vietnam
x
Vietnam National University Ho Chi Minh City, Linh Trung Ward, Thu Duc District, Ho Chi Minh City, ri is the position vector of the ith particle.
Vietnam
rCM is the position vector of the CM.

m x i i m y i i m z i i
xcm = i
; ycm = i
; zcm = i

1
m i
i m i
i m i
i
2

The Center of mass The Center of mass

To Find the center of mass of a continuous object Motion of the center of mass
- Divide the object to have an element of mass dm.
- Posision vector of dm is r
- we replace the sum with an integral
 
 m r i i  r dm
dm rCM = =
i ( m)
z
m  dm

i
i (m)
r CM m x i i  xdm  ydm  zdm
 xCM = i
= ( m)
; yCM = ( m)
; zCM = (m) Conservation of momentum
rCM m i
i  dm  dm  dm
O y
(m) (m) (m)

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The center of mass The center of mass

Figure shows a uniform square plate of edge length 6d=6.0 m from
which a square piece of edge length 2d has been removed. What is the
x coordinate of the center of mass of the remaining piece?

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The center of mass ANGULAR VELOCITY - ANGULAR ACCELERATION

A rigid body = system of particles, that the distance between any two
particles that make up the object remains fixed.

Rigid object rotates about a fixed axis .

The trajectory of each point (except those on the axis) is a circle.
During a time dt, all points move the same angle d
d
 Angular speed = (rad / s)
dt
d
Angular
Acceleration
= (rad / s 2 )
dt
d
During a time dt, ith particle move
M1 a distance dsi

O d dsi = ri d
dsi Mi(t+dt)
ri: distance from ith particle Mi to the
Mi(t+dt)
rotation axis.
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Relationship Between Angular and Linear Quantities

The average angular velocity

dsi = ri d
The speed of the ith particle:
dsi d
The instantaneous angular velocity  vi = = ri = ri
dt dt
The tangential acceleration of the ith particle :

dvi d
ai = = ri = ri
dt dt
The average angular acceleration
The centripetal acceleration of the ith particle :
 v2
O d ai ain = =  2 ri
ri dsi ri
The instantaneous angular acceleration 
ain  The acceleration of the ith particle
vi
10
ai = a2i + ani
2
= ri  2 +  4 11

Period Frequency
1
𝑓=
𝑇

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Translation vs Rotation

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Moment of Inertia
Translation vs Rotation of Homogenous Rigid Objects about the axis through the Center of Mass

  
Solid Hoop or thin R1
R Hollow
cylinder/disk cylindrical cylinder
1 R shell
I CM = mR2 R2 1
I CM = mR2 I CM = m( R12 + R22 )
2 2

  Thin  Sheet
Solid sphere
spherical
R 2 R shell
I CM = mR2 b 1
5 2 I CM = m(a 2 + b 2 )
I CM = mR2 a 12
3

CM Thin rod  Through the end

Thin rod
1
I CM = mL2 1
12 I  = mL2
3
L
L
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The Parallel-Axis Theorem Rolling

2 7
𝐼∆ = 𝑀𝑅 2 + 𝑀𝑅 2 =
5 5

Kinetic Energy

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Torque Torque

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Torque Angular momentum

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Angular momentum Angular momentum

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Angular momentum Angular momentum

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Collision Rolling
1) A cylinder rolls down a plane inclined at 𝜃 = 50°. What is the
minimum value of the coefficient of static friction for which the
cylinder will roll without slipping?
2) For a hoop rolling down an incline,
(a) what is the force of friction,
(b) what is the maximum value of tan𝜃 for which the hoop will
roll without slipping?
3) Solid sphere

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Rotation of a Rigid Object About a Fixed Axis - Kinetic Energy Theorem of Impulse

(a) Without the wheels, a bicycle frame has a mass of 8.44 kg. Each A stream of gas consists of n molecules. Each molecule has a
of the wheels can be roughly modeled as a uniform solid disk speed of v and a mass of m. The stream is reflected elastically
with a mass of 0.820 kg and a radius of 0.343 m. Find the from a rigid surface, as show in the diagram. What is the
kinetic energy of the whole bicycle when it is moving forward at magnitude of the impulse from the stream on the surface?
3.35 m/s.
(b) Before the invention of a wheel turning on an axle, ancient
people moved heavy loads by placing rollers under them.
(Modern people use rollers too. Any hardware store will sell
you a roller bearing for a lazy susan) A stone block of mass 844
kg moves forward at 0.335 m/s, supported by two uniform
cylindrical tree trunks, each of mass 82.0 kg and radius 0.343 m.
No slipping occurs between the block and the rollers or
between the rollers and the ground. Find the total kinetic
energy of the moving objects.
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Theorem of Impulse Kinetic Energy

1 1 1
K = ෍ 𝑚𝑖 𝑣𝑖2 = ෍ 𝑚𝑖 𝑟𝑖2 𝜔𝑖 = 𝐼∆ 𝜔 2
2 2 2
𝑖 𝑖

Theorem of Kinetic Energy

𝑡2 𝜃2
1
Impulse = 𝑝1 − 𝑝2 = න 𝐹Ԧ 𝑑𝑡 𝐾2 − 𝐾1 = 𝐼 22 − 12 = න 𝜏 𝑑𝜃
2
t1 𝑡2 θ1

𝐿∆2 − 𝐿∆1 = 𝐼 2 − 1 = න Ԧ 𝑑𝑡

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t1