ASSIGNMENT 04 - SOLUTIONS

ASSIGNMENT 01
Solution
Total Marks: 100
UNIQUE ASSIGNMENT NUMBER: 761526

Question 1: 15 Marks

A uniform disc with radius r and mass M stands upright on a rough surface, and a thin thread is wrapped
around its circumference. The thread is pulled with a constant force T along a line tangential to the surface.

Calculate the acceleration of the centre of the disc and the angular acceleration of the disc, if it rolls without
slipping.
Solution
As the thread is pulled, the motion of the disc is a combination of translation and rotation. Therefore we will
need to apply both the equation of rotation and the equation of translation to describe its motion.
The forces acting on the disc are: Tension of the rope towards the left, acting at the top of the disc (point A);
and friction f acting at the point B of contact between the disc and the surface. (It is not that obvious here
whether the friction should be towards the left or towards the right. We will draw it acting towards the right;
if we get a negative sign for it at the end, then it should have been towards the left!) Further there are the
vertical forces of gravity M g acting downwards at G (the centre of the disc); and the normal force N acting
upwards, at point B.

Let us introduce a coordinate system with the i and j unit vectors as shown above. Then the forces written
as vectors are

T = −T i
Mg = −M gj
N = Nj
f = fi

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and the position vectors, which we will need for the equation of rotation about G, are

GA = rj,
GB = −rj

Now we are ready to write down the equation of translation of the centre of mass, and rotation about the
centre of mass, for the disc. We will consider the vertical and horizontal motions separately. Let ẍ be the
horizontal and ÿ the vertical acceleration, so that

R̈ = ẍi + ÿj.

Then the equation of translation is

M R̈ = T + M g + N + f


∴ M ẍi + ÿj = −T i − M gj + N j + f i

and after separating this into its vertical and horizontal components (by grouping together first the i terms
and then the j terms), we get

M ẍ = −T + f (1)
M ÿ = N − M g (2)

Taking moments of all the forces about point G, we get the equation of rotation


GA × T + GG × M g + GB × N + GB × f = I θ̈k

where θ̈ is the angular acceleration, measured counterclockwise. When we substitute into this the position
vectors and force vectors, we get




∴ rj × (−T i) + 0 × −M gj + −rj × N j + −rj × f i = I θ̈k
1
∴ rT + rf = M r2 θ̈. (3)
2
Now, equation (2) will have a trivial solution: ÿ = 0 and N = M g (the disc will move parallel to the surface).
So we will have two equations left:

−T + f = M ẍ (1)
1 2
rT + rf = 2 M r θ̈ (3)

but there are three unknowns, f, ẍ and θ̈. We will need a third equation, which comes from the fact that the
disc rolls without slipping: We should have
ẍ = −rθ̈. (4)
Note the minus sign here: It shows the fact that if the disc rotates counterclockwise then the centre of the
disc moves to the left, in the negative x–direction.
Now we have three equations, so we can solve for the three unknowns. (For instance, divide (3) by r and
substitute (4) into it, and add to (1) to get
1
2f = M ẍ,
2

3
and substitute this into (1).) We will get
4T
ẍ = − ,
3M
4T
θ̈ = ,
3M r
1 T
f = M ẍ = − .
4 3
The centre of the disc will accelerate towards the left in our sketch, with acceleration − (4T ) / (3M ) , and it
will have the counterclockwise angular acceleration (4T ) / (3M r) .
[Note that we get a negative value for the friction f, so f will in fact act towards the left here!]

Question 2: 20 Marks

The object shown below consists of two identical thin rods AB and CD, of mass M and length L, joined
together at their midpoints to form a cross. Let E be the point where the two rods intersect.Find the moment
of inertia of the object when it rotates about the following axes of rotation:

(a) An axis along rod AB. (5%)

(b) An axis through point E, perpendicular to the cross. (5%)

(c) An axis through point A, perpendicular to the cross. (5%)

(d) An axis which goes through points A and D. (5%)

Solution
We will need the following result: For each of the rods with mass M and length L, the moment of inertia
when the rod rotates about an axis perpendicular to the rod, through its centre is
 2
1 L 1
IG = M = M L2 .
3 2 12

The axes of rotation is each question are shown in the diagrams below.

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(a) Since the axis here is perpendicular to rod CD and travels along rod AB, we have
1
rod AB
IAB = IAB rod CD
+ IAB = IG + 0 = IG = M L2 .
12

(b) If we apply the perpendicular axis theorem, we get

IE = IAB + ICD

where IAB and ICD are moments of inertia for rotation about rods AB and CD. But according to the
result in (a), we have
1
IAB = ICD = M L2 ,
12
and therefore
1 1 1
IE = M L2 + M L2 = M L2 .
12 12 6
(c) We can use the parallel axis theorem: IE described in (b) is for an axis which goes through the centre
of mass of the object, and the axis in IA here is parallel to that. We get

IA = IE + (2M ) d2

where d is the distance between points E and A, that is, d = L/2. [Note that we must use 2M rather
than M because the total mass the object is 2M !] Therefore,
 2
1 L 2
IA = M L2 + 2M = M L2 .
6 2 3

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 (d) Method 1: The axis of rotation here is parallel to one of the diagonals travelling through point E,
parallel to the plane of the object, shown below, so IAD can be calculated using the parallel axis
theorem from the moment of inertia of the object when it rotates about one of the diagonals:

IAD = Idiag + (2M ) d2

where now d is the distance from the axis of rotation here to point E.

A bit of trigonometric reasoning gives us

1
d2 = L2 .
8
We still need to find Idiag , but these can be found from IE using the perpendicular axis theorem: we
must have  
1 1 1 2
2Idiag = IE ∴ Idiag = IE = ML ,
2 2 6
and therefore

IAD = Idiag + (2M ) d2

   
1 1 2 1 2
= M L + (2M ) L
2 6 8
1
= M L2 .
3

Method 2: Alternatively, we can note that according to the perpendicular axis theorem, we must have

IAD + IAC = IA ,

and because of symmetry, IAD = IAC ; and therefore

 
1 1 2 1
IAD = IA = M L = M L2
2
2 2 3 3

as before.

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Question 3: 15 Marks

A ring and a disc, both with radius r and mass M , roll down an incline. Find their angular and linear
accelerations.
Solution
Let I denote the moment of inertia of an object (ring or disc) for rotation about its axis. If we denote by α
the angle of the incline, and if I is the moment of inertia for the object as it rotates about its centre of mass,
then we obtain the following equations of motion for the object [see Example 13.3]:

M g sin α − F = M ẍ
.
r F = I θ̈

Applying the rolling condition, ẍ = r θ̈, we get


 M g sin α − F = M r θ̈
I
 F = θ̈
r
from which we can solve the angular and linear accelerations:

M g sin α
θ̈ = , ẍ = r θ̈.
I
Mr +
r
For the ring, I = M r2 , and thus
1g 1
θ̈ = sin α, ẍ = g sin α.
2r 2
1
For the disc, I = M r2 and therefore
2
2g 2
θ̈ = sin α, ẍ = g sin α.
3r 3

Question 4: 18 Marks

A disc with radius R and mass M is placed upright on a rough slope which forms the angle α with horizontal.
A thin string is wound around the disc and pulled upwards parallel to the slope with tension T , as shown
below. The string does not slip on the disc, and the disc rolls without slipping along the slope.

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 (a) Copy the sketch above. List, and draw in your sketch as vectors, all the forces acting on the disc.(3%)

(b) Write down the equations of motion of the centre of mass of the disc. Use separate equations for
the components of motion parallel and perpendicular to the slope, respectively. (Do not solve the
equations!) (4%)

(c) Write down the equation of rotation of the disc, for rotation about its centre of mass. (Do not solve the
equations!) (3%)

(d) Explain how the motions in (b) and (c) are linked to each other. (3%)

(e) What should the value of T be, so that the disc does not move or rotate? (2%)

(f) If T is chosen as in (e) above, then the total mechanical energy of the system does not change; and yet
a non-zero non-conservative force is applied in the system. Explain why this does not contradict the
law of energy conservation. (3%)
Solution

(a)
The forces acting on the disc are: Tension T , acting along the string; force of gravity, M g, acting
downwards, at the centre of the disc; friction f acting at the point where the disc touches the plane;
and the normal force from the plane, N , acting at the point where the disc touches the plane. The
points of action and directions of the forces are shown in the sketch above. [You must get both of these
right when you draw the forces as vectors! The normal force will act perpendicular to the plane, and
gravity downwards. Friction acts parallel to the plane.]

(b) The equation of motion parallel to the plane:

T + f − M g sin α = M ẍ

where ẍ is the acceleration of the centre of the disc parallel to the plane, measured positive up the
slope. [Note that whenever you introduce variables for acceleration etc., you must explain what your
coordinate system is, or alternatively, how you decide to measure them! And after you have done that,
make sure that the signs of the forces match with the way you measure acceleration: If as here ẍ is
positive up the slope then all forces acting up the slope must also be positive, and all forces down the
slope must be negative!]

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The equation of motion perpendicular to the plane:

N − M g cos α = M ÿ

where ÿ is the acceleration of the centre of the disc perpendicular to the plane, measured positive
upwards.

(c) Equation of rotation:  

1 2
Rf − RT = M R θ̈
2
where θ̈ is the angular acceleration, taken to be positive counterclockwise.

(d) The translation and rotation of the disc are linked together by the rolling condition, since the disc is
known to roll without slipping. Here, the rolling condition is given as

ẍ = −Rθ̈.

[The sign (minus or plus) in the rolling condition depends on how you chose to measure ẍ and θ̈. Here,
we took θ̈ to be positive counterclockwise, but when the disc rolls counterclockwise in the sketch above,
the disc rolls down the slope while we decided to take ẍ positive up the slope – hence the minus sign
in the rolling condition.]
Also, since we know that the disc is rolling [rather than bouncing for instance] down the plane, we
know that the centre of mass of the disc travels parallel to the plane and therefore ÿ = 0.

(e) If the disc does not move or rotate, we should have ẍ = 0 and θ̈ = 0. If we substitute these to the
equations of translation and rotation, we get the two equations

T + f − M g sin α = 0
Rf − RT = 0

from which we can solve the value of T :

1
T = M g sin α.
2

(f) All the forces acting on the disc cancel out.

Question 5: 12 Marks

A pendulum consists of a rod AB of length 2L and mass m with a thin disc of mass M and radius r attached
rigidly at its centre to the rod’s end point B. The pendulum rotates about an axis through point A of the rod,
perpendicular to the plane of the disc. If the zero energy level of the (gravitational) potential energy is taken
to go through point A, find the potential energy of the pendulum in the following cases:

1. If the pendulum is horizontal; (4%)

2. If the pendulum stands upside down vertically above point A; (4%)

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 3. If the pendulum forms the angle 45◦ with a vertical line drawn directly downwards from A.
(4%)
Solution
As given in Result 14.10, the potential energy of the pendulum can be calculated from

P E = mp gh

where mp is the total mass of the pendulum, and h is the height difference (positive or negative) between the
centre of mass of the pendulum and the zero energy level.
Here, mp = M + m. We will need to find where on the rod the centre of mass of the pendulum is, in order to
find its height in relation to the zero energy level in (a), (b) and (c). Since the zero energy level is taken to go
through A, what we really need is the distance from A to the centre of mass G. Let us denote this distance
by x. We can easily find x by taking the X–axis to go along the rod, with origin at A; then the X–coordinate
of the centre of mass is x.

Thus we simply have

 
m · L + M · 2L m + 2M
x = =L
m+M m+M
 
M
= L 1+ .
m+M

(a) When the pendulum is horizontal, the centre of mass G lies on the zero energy level, so h = 0 and
hence the potential energy is zero.

(b) If the pendulum stands upside down vertically above A, then G lies the distance h = +x above the
zero energy level.

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Therefore, the potential energy in this case is

P E = + (M + m) gx
 
m + 2M
= (M + m) gL
m+M

= gL (m + 2M ) .

(c) If the pendulum forms the angle 45o with a vertical line drawn down from A, then G lies the distance

1
h = cos(45o ) x = √ x
2
below A and below the zero energy level.

Therefore, in this case

1
P E = − (M + m) g √ x
2
 
1 m + 2M
= − (M + m) g √ L
2 m+M
1
= −g √ L (m + 2M ) .
2

[Remark: We could alternatively have added together the potential energy of the rod and the potential
energy of the disc in each case!] [10%]

Question 6: 10 Marks

A uniform rod of length a has one end in contact with a horizontal plane. Released from rest with an
inclination α to the plane, the rod falls freely. Show that when the rod has reached a horizontal position, its
angular velocity is given by the equation
3g
ω2 = cos α
8a
whether the plane is smooth or rough, and that the end of the rod which is in contact with the plane will
remain in contact.

11
Solution
We can use the energy conservation method in the smooth and the rough cases (but not necessary in the case
where there is a limited, non-zero amount of friction between the end of the rod and the plane, since such
friction would be a non-conservative force). In both cases, initially the rod forms the angle α with the plane,
so by the time the rod is horizontal (lies along the plane), it has lost the amount
a
4P E = −mg sin (α)
2
of potential energy, if we denote the mass of the rod by m. Also, initially both systems were at lost, so the
initial kinetic energies are zero.
In the case of the smooth plane, the rod undergoes both rotation and translation. Since only vertical forces
act on the rod (gravity down at the middle of the rod, and the normal force up at the end of the rod which is
in contact with the plane), the centre of mass will move straight down; and moment of the normal force at
one end will cause the rod to rotate. So the kinetic energy at any time is found from
 
1 2 1 2 1 1  a 2 2 1 1 2 1
KE = IG θ̇ + mṘ = m θ̇ + mṘ2 = ma2 θ̇ + mṘ2 .
2 2 2 3 2 2 24 2

Now, there will be a link between θ̇ and Ṙ: Since the centre of mass moves straight down, there is no
sideways motion for the centre of mass, and we can write

Ṙ = ẏ

where y is the height of the centre of mass above the plane. Now, since one end of the rod is always touching
the plane, we will have
a
y = sin (θ)
2
at an arbitrary position where the angle formed by the rod and the plane is, say, θ measured clockwise. As
the rod falls, θ will range from α to 0. If we differentiate this with respect to time, we get (by using the chain
rule)
a
ẏ = cos (θ) θ̇.
2
We need to find the kinetic energy of the rod in the final position, which is where the rod is parallel to the
plane – that is, when θ = 0. In that case, we therefore have
a
ẏ = θ̇
2
and when we substitute this into the formula of the kinetic energy, we see that the final kinetic energy, and
hence the gain in kinetic energy from the initial position, must be
1 2 2 1 2 1 2 2 1  a 2 1 2 2
4KE = KEfinal = ma θ̇ + mẏ = ma θ̇ + m θ̇ = ma θ̇ .
24 2 24 2 2 6
Now, the energy conservation tells us that
a 1 2
mg sin (α) = a2 mθ̇
2 6
from which we can solve the value of the final angular velocity:
2 mg a2 sin (α) g
ω 2 = θ̇ = 1 2
= 3 sin α.
6
ma a

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In the case of the rough plane, the rod undergoes pure rotation, pivoting about the end of the rod which
stays in contact with the plane. The kinetic energy is now given by
 
1 2 1 4  a 2 2 1 2 2
KE = Iend θ̇ = m θ̇ = a mθ̇ .
2 2 3 2 6
[Note that we must now use the moment of inertia for when the rod rotates about one of its end points!]
Therefore here the final kinetic energy, and hence the gain in kinetic energy from the initial position, is given
by
1 2
4KE = KEfinal == a2 mθ̇
6
as before, and again the energy conservation tells us that
a 1 2
mg sin (α) = a2 mθ̇
2 6
and therefore the final angular velocity is

2 mg a2 sin (α)
2 g
ω = θ̇ = 1 2
= 3 sin α.
6
ma a

[As you can see, there was an error in the question statement!]

Question 7: 10 Marks

A uniform rod AB with a mass 3m and length 2` rotates on a vertical plane about an axis through A. A
particle of mass 4m is attached to the rod at B. Initially the rod is held at rest so that B is directly above A.
The rod is then released.

1. Calculate the moment of inertia of the object consisting of the rod and the particle, for rotation about
point A. (5%)

2. Determine the size of the angular velocity when AB is horizontal. (5%)

Solution

(a) Let IA be the moment of inertia for rotation of the object consisting of the rod and the particle, about
an axis through A. The value of IA is found by adding together the moment of inertia for the rod, and
for the particle, as they rotate about the given axis. Thus, since the rod has mass 3m and length 2l, and
the particle has mass 4m and lies at the distance 2l from point A, we get
4
IA = 3ml2 + 4m (2l)2 = 20ml2 .
3

(b) We can solve this problem by applying the energy conservation method. In the initial position, the
rod has potential energy but no kinetic energy, while at the final position it has kinetic energy but no
potential energy, so by applying energy conservation we will be able to find the kinetic energy in the
final position from the potential energy in the initial position.

13
 Initially, the centre of mass G is above the zero energy level. To find the initial potential energy, we
must find the distance from A to the centre of mass of the system consisting of the rod and the particle.
But this can easily be calculated to be
3m · l + 4m · 2l 11
x= = l.
3m + 4m 7
Thus, we get
11
P Ein = (7m) g x = (7m) g l = 11mgl.
7
[Remember that the mass of the whole object is 7m!] We could have alternatively calculated this initial
potential energy as the sum of the potential energies of the rod and of the particle:
P Ein = (3m) g l + (4m) g 2l = 11mgl.
The disc is initially at rest, so
KEin = 0.
When AG is horizontal, then G is along the zero energy level, so that
P Eh = 0.

[The subindex h refers to the “horizontal” position!]

If the angular velocity of rotation at the moment when AG is horizontal is denoted by θ̇, then the
kinetic energy at that moment is [for pure rotation]
1 2 1
2 2
KEh = IA θ̇ = 20ml2 θ̇ = 10ml2 θ̇ .
2 2
The system is conservative, and therefore the sum of kinetic and potential energies is constant. If we
set the energies in (i) and (iii) to be equal, we get
P Ein + KEin = P Eh + KEh
 2
∴ 11mg l + 0 = 0 + 10 ml2 θ̇
 2
∴ 10 ml2 θ̇ = 11mg l.

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We can solve the angular velocity from this:

 2 11 mg l 11g
θ̇ = =
10 ml2 10l
r
11g
∴ θ̇ = .
10l

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