Week 5

Mechanics 3AMX0

Self-study slides
Rigid bodies RECAP

The motion of rigid bodies can be separated into two simpler

problems:

1) Motion of CM (translation)
2) Motion relative to CM (rotation)
Rigid bodies

The motion of rigid bodies can be separated into two simpler

problems:

1) Motion of CM (translation)
2) Motion relative to CM (rotation)

! ! ! !" !" !"

rα = R + rαʹ rα = R + rαʹ

! ! ! !
v =V + ω× r '
(Often needed in exercises!)
 Center of mass

System of point masses: m1 , m2 , m3 , ...

! ! !
at positions: r1 , r2 , r3 , ...
! m1r!1 + m2 r!2 + m3r!3 + .......mn r!n
Definition position CM: R=
m1 + m2 + m3 + ....mn
!
! ∑ mα rα 1 ! “the position of the average,
R= α
= ∑ mα rα weighted by mass”
∑m α
M α
α

The 3 components:

åm x a a åm y a a åm z a a
X= a
Y= a
Z= a

åm a
a åm a
a åm a
a
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Self test (1)

Given: three point masses where

!
r1 = (−1,0,0) m1 = 2m ! 1 !
! y R= m r
∑ αα
r2 = (1,0,0) m2 = m M α
! m3
r3 = (0,1,0) m3 = m
!
Asked: position center of mass R CoM

1) (- 14 , 12 ,0) m1 m2

2) (- 14 , 14 ,0)
3) (- 12 , 14 ,0)
4) other

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Self test (1)

Given: three point masses where

!
r1 = (−1,0,0) m1 = 2m ! 1 !
! y R= m r
∑ αα
r2 = (1,0,0) m2 = m M α
! m3
r3 = (0,1,0) m3 = m
!
Asked: position center of mass R CoM

1) (- 14 , 12 ,0) m1 m2

2) (- 14 , 14 ,0)
åm x a a
2m × (-1) + m ×1 + m × 0 1
3) (- , ,0)
1 1 X= a
= =-
2 4 M 4m 4
4) other åm a ya
m × 0 + 2m × 0 + m × 1 1
Y= a
= =
M 4m 4
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 CM of a continuous mass distribution
!
Divide the object into small pieces with mass ma at positions rα and
then add contributions:
! !
! ∑ mα rα ∑ mα rα
R= α
= α
∑m α M
α
ma
For infinitesimally small pieces: ma ® dm
! 1 !
! R= ∫ r dm
ra M object

Symbolic expression for integration over

O volume (so actually three integrals)

Volume is Va density is r, so ma = rVa . Then also:

! 1 !
R= ∫ rρdV
M object
Self test (2)

Given: cone (see figure) ! 1 !

! R= ∫ rρdV
Asked: position Center of Mass R M object

1) X = 0 Y = 0 Z = 12 h M = 13 rpR 2 h
2) X = 0 Y = 0 Z = 23 h
3) X = 0 Y = 0 Z = 34 h
4) other

Hint:

1 r
Z=
M ò
object
zrdV =
M ò zdAdz
object
Self test (2)

Given: cone (see figure) ! 1 !

! R= ∫ rρdV
Asked: position Center of Mass R M object

1) X = 0 Y = 0 Z = 12 h M = 13 rpR 2 h
2) X = 0 Y = 0 Z = 23 h
3) X = 0 Y = 0 Z = 34 h
4) other

Hint:

1 r r
h
Z=
M ò
object
z rdV =
M ò zdAdz =
M ò dz
z pr 2

object 0

h
r
h
æ R2 z 2 ö h
rpR 2 3 rpR 2 3 rpR 2 1 4 3
ò 2 ò 2 ò
= z p ç 2 ÷ dz = z dz = z dz = 2 4
h = 4h
M 0 è h ø Mh 0 Mh 0 Mh
 Angular momentum of a rigid body

Total angular momentum relative to origin O:

! ! ! ! !"
L = R × P + ∑ rαʹ × mα rαʹ
α

Total angular Angular momentum of CM Angular momentum of rigid

momentum relative to origin O body relative to CM (“spin”)
(“orbital angular momentum”)
! ! !
L = LCM relative to O + Lrigid body relative to CM
Short notation: !" ! !
! ! ! Lorbit = R × Fext
L = Lorbit + Lspin !" ! ext
Lspin = Γrelative to CM
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Rolling condition

no slip:
! !
vrim = vCoM

!
Rolling condition vcm = w R
 Self test (3)
! ! !
Given: rolling cylinder (no slip) L = Lorbit + Lspin
Asked: expression for angular acceleration a
I C = 12 MR 2
w
!
2F C F
1) a= ŷ ! !
5MR Ff R N
3F O
2) a= x̂
2MR !
Mg
3F f
3) a=
2 MR
4) Other
 Self test (3)
! ! !
Given: rolling cylinder (no slip) L = Lorbit + Lspin
Asked: expression for angular acceleration a
I C = 12 MR 2
w
!
2F C F
1) a= ŷ ! !
5MR Ff R N
3F O
2) a= x̂
2MR !
Mg
3F f
3) a=
2 MR
2F
4) Other Þa=
3MR
Solution self test (3): method 1
! ! !
From point O: L = Lorbit + Lspin
Lz = - RMvC - I C w
Rolling condition: I C = 12 MR 2
w
= - MR w - I C w
2
vC = wR C F
!
ŷ !
!
N
= -( MR 2 + I C )w Ff R
O
!" ! ext dLz x̂
L=Γ Þ = - FR !
Mg
dt
dw d w 2F
Þ ( MR + I C )
2
= FR Þ a = =
dt dt 3MR
I C = 12 MR 2
Solution self test (3): method 2
! ! !
From point C: L = Lorbit + Lspin
LC , z = - I C w
I C = 12 MR 2
!" ! ext w
Lspin = Γrelative to CM !
C F
ŷ !
!
R N
dLC , z Ff
Þ = - Ff R O
dt x̂
!

}
dw Mg
Þ IC = Ff R Þ 1
MR 2 a = Ff R
dt 2
2F
Þa=
F - Ff = MaC = M aR Þ Ff = F - M aR 3MR

Rolling condition: aC = aR
 Self test (4)
! ! !
Given: billiard ball on frictionless floor L = Lorbit + Lspin
How high should we hit the billiard ball to make
sure the ball does not slip?
!
1) h = 75 R F
I C = 52 MR 2
P
w
C !
vC
2) h = 32 R ŷ h
R
O
3) h=R x̂

4) other

Hint: determine Lz relative to point P

 Self test (4)
! ! !
Given: billiard ball on frictionless floor L = Lorbit + Lspin
How high should we hit the billiard ball to make
sure the ball does not slip?
!
1) h = 75 R F
I C = 52 MR 2
P
w
C !
vC
2) h = 32 R ŷ h
R
O
3) h=R x̂

4) other

Hint: determine Lz relative to point P

 Solution self test (4)
! ! !
Relative to point P: L = Lorbit + Lspin
Lz = (h - R)MvC - I C w
!
dLz
= 0 Þ Lz = constant F
I C = 52 MR 2
dt P
w
NB: no friction! = 0 (why?) h
C !
vC
ŷ R
O
x̂

}
(h - R)MvC - I C w = 0
vC = wR No slipping! Þ h = 75 R
I C = 5 MR
2 2
 Summary

Center of mass:
! 1 !
R= ∑ mα rα
M α

Angular momentum:
Compact notation:
! ! ! ! ! !
L = LCM relative to O + Lrigid body relative to CM L = Lorbit + Lspin
Change of angular momentum:
! Compact notation:
dLrelative to CM ! ext !" ! ext
= Γrelative to CM Lspin = Γrelative to CM
dt
Kinetic and potential energy:

T = TCM relative to O + Trigid body relative to CM U = U ext

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Rotation about a fixed axis FOCUS

!
ω z
Rigid body rotates about fixed axis (z-axis)

!
Angular velocity is ω ra^ ma
!
Total angular momentum: ra x
! ! ! ! O
L = ∑ ℓα = ∑ rα × mα vα
! α α
! ! !
ω equal for every mass element: vα = ω × rα

}
! ! ! !
ω = (0,0,ω) vα = ω × rα = (−ωyα ,ωxα ,0)
!
rα = (xα , yα , zα )
! ! ! ! !
ℓα = rα × mα vα = ma w(- za xa , - za ya , xa + ya ) ⇒ L = ∑ ℓα
2 2

α
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Rotation about a fixed axis
!
Total angular momentum: ω z
! !
L = ∑ ℓα
! !α !
ℓα = rα × mα vα = mαω(−zα xα ,−zα yα , xα2 + yα2 ) ra^ ma
!
First z-component: ra x
Lz = å ma w( xa2 + ya2 ) = å ma wra^
2 O
a a
æ 2 ö
= ç å ma ra^ ÷ w = I z w
è a ø ra^ = x 2
a + y 2
a

where I z = å ma ra^ is the moment of inertia relative to z-axis

2

a (see week 1)

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Rotation about a fixed axis
!
Total angular momentum: ω z
! !
L = ∑ ℓα
! !α !
ℓα = rα × mα vα = mαω(−zα xα ,−zα yα , xα2 + yα2 ) ra^ ma
!
Now x- and y- components: ra x
Lx = -å ma xa za w O
a
Ly = -å ma ya za w
a
In general: Lx ¹ 0 and Ly ¹ 0
! !
à L generally not along the rotation axis ω

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Example

Given:
• Mass m connected to the end of a massless needle !
• Constant angle 𝜶 between needle and z-axis ω
• Mass rotates around z-axis with angular velocity 𝝎 !
r
! !
Asked: direction of L L
! ! !
Angular momentum: L = r × mv
! ! !
v = ω × r in negative x-direction
! ! ! ! !
L = r × mv ⊥ r and v (see figure)
! !
à L not parallel to ω
!"
Also: L ≠ 0 à Important consequences!

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Rotation about a fixed axis

Total angular momentum:

æ ö
Lx = -å ma xa zaw = ç -å ma xa za ÷ w = I xz w
a è a ø
Ly = -å ma ya za w = æç -å ma ya za ö÷ w = I yz w
a è a ø
æ 2 ö
Lz = å ma ( xa + ya ) w= ç å ma ( xa + ya ) ÷ w = I zz w
2 2 2

a è a ø
Products of inertia: Moment of inertia:

I xz = -å ma xa za I yz = -å ma ya za I zz = å ma ( xa2 + ya2 )
a a a
Angular momentum for a rigid body that is rotating about z-axis:
!
L = (I xz ω, I yz ω, I zz ω) à Examples for calculating I xz , I yz , I zz

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Example 1

Products of inertia and moment of inertia

!
ω m
I xz = -å ma xa za = - m × 0 × z0 = 0 !
a
L
I yz = -å ma ya za = -my0 z0
a

I zz = å ma ( xa2 + ya2 ) = m(0 + y0 ) = my0

2 2

Angular momentum:
!
L = (I xz ω, I yz ω, I zz ω) = (0, -my0 z0 , my02 )w
! !
à L not parallel to ω

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 Example 2

Products of inertia and moment of inertia

!
ω m
I xz = -å ma xa za = -m × 0 × z0 - m × 0 × (- z0 ) = 0
a
!
L
I yz = -å ma ya za = -my0 z0 - my0 (- z0 ) = 0
a

I zz = å ma ( xa2 + ya2 ) = m(0 + y02 ) + m(0 + y02 ) = 2my02

a

Angular momentum:
!
L = (I xz ω, I yz ω, I zz ω) = (0, 0, 2my02 )w
! !
à L in the same direction as ω

Rigid bodies with reflection symmetry in the z=0 plane: I xz = I yz = 0

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 Example 3

Products of inertia for two masses m on opposite sides of a circle:

!
I xz = -å ma xa za = -mx0 z0 - m(- x0 ) z0 = 0 m L M
a
!
ω
I yz = -å ma ya za = -my0 z0 - m(- y0 ) z0 = 0 R0
a m
I zz = å ma ( xa2 + ya2 ) = 2m( x02 + y02 ) = 2mr^2
a

Total:

I xz = 0 I yz = 0 I zz = å ma r^2 = MR02
a
Angular momentum:
! ! !
L = ( I xz w, I yz w, I zz w) = (0, 0, MR02 )w à L in the same direction as ω

If rigid body is axisymmetric around (z-)axis: I xz = I yz = 0

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Exercises

Final exam March 21, 2014, exc. 1

Final exam June 28, 2013, exc. 5
Final exam April 16, 2014, exc. 5

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Test March 21, 2014 – Exercise 1

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Test March 21, 2014 – Solution exercise 1

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Final exam June 28, 2013 – Exercise 5

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Final exam June 28, 2013 – Solution exercise 5

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Final exam April 16, 2014 – Exercise 5

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Final exam April 16, 2014 – Solution exercise 5

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Final exam April 16, 2014 –Exercise 5 (cont’d)

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Final exam April 16, 2014 – Solution exercise 5 (cont’d)

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 Exercises

Set of exercises week 5

Old-exam exercises and E23, E24, E25, E26, E27

Set of exercises week 5 (BZ)

10.4, 10.5, 10.13, 10.18

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