Classical Mechanics

Rotation of Rigid Bodies 1

TKU211121
Basic Sciences
2 SKS
Odd Semester 2022/2023
What will you learn
• Review of Rotational Kinematics
• Pure Rotation and Center of Mass
• Rotational Energy
Why bother studying rigid bodies?
• So far, all of our analysis assume that the object is a
point-like particle. This simple model is useful to learn
basic law of physics and can be applied to object with
small size in some scenarios.
• But, it has a few limitations:
• Cannot be applied to object with a considerable size
• Cannot account for rotational motion; only works for translation
• Most objects in the world has size and shape. So, we
have to abandon the point-like particle model and use
rigid-body model.
Rigid Body Model
• A rigid body is an extended object whose
size and shape do not change as it moves.
• A rigid body cannot be stretched,
compressed, or deformed.
• Can account for translational motion,
rotational motion, and combination
motion.
• Limitations: Model fails if an object changes
shape or is deformed.
Review Rotational Kinematics
• The rate of change of angle with respect to time is defined as
angular velocity:
𝑑𝜃
𝜔=
𝑑𝑡
• If the rotation is speeding up/down, its angular acceleration is
defined as:
𝑑𝜔
𝛼=
𝑑𝑡
• A point at distance 𝑟 from the rotation axis has tangential
velocity and acceleration as follows:
𝑣𝑡 = 𝜔𝑟; 𝑎𝑡 = 𝛼𝑟
• This point has a radial acceleration called centripetal
acceleration given by:
𝑣𝑡2
𝑎𝑟 = = 𝜔2 𝑟
𝑟
Sign of Rotation
• Although rotational kinematics is very similar to the translational kinematics,
care needs to be taken with regards to the sign and direction of rotation!
• Positive sign of rotational acceleration 𝛼 does not necessarily mean that the
rotation is accelerating!
Pure Rotation
• Pure rotation is when an object rotates with
respect to its center of mass while the center of
mass does not move.
• Learning pure rotation is necessary before we
learn a more general motion which can consists
of a combination of rotation and translation.
• But, how do we find the center of mass of an
object?
Center of Mass Calculation
• We model the object as a set of particles
numbered 𝑖 = 1, 2, 3, …. Particle 𝑖 has mass 𝑚𝑖 and
is located at position 𝑥𝑖 , 𝑦𝑖 .
• The center of mass is the mass-weighted center of
the object.

• What happen if all particles have the same mass?

Example – Center of Mass Calculation

• Suppose that the first ball is located at 𝑥1 = 0 𝑚. So, the second ball is located at 𝑥2 = 0.5 𝑚.
• The center of mass location with respect to the first ball:
𝑚1 𝑥1 + 𝑚2 𝑥2
𝑥1 = = 0.1 𝑚
𝑚1 + 𝑚2
• The translational speed is given by:
2𝜋 𝑟𝑎𝑑
𝑣1 = 𝜔𝑟1 = 40 𝑟𝑝𝑚 × 0.1 𝑚 = 0.42 𝑚/𝑠
60 𝑠𝑒𝑐
2𝜋 𝑟𝑎𝑑
𝑣2 = 𝜔𝑟2 = 40 𝑟𝑝𝑚 × 0.5𝑚 − 0.1 𝑚 = 1.68 𝑚/𝑠
60 𝑠𝑒𝑐
Center of Mass Calculation
for Continuous Object
• But, the previous formula for center of mass calculation
assumes that an object consists of many discrete objects!
However, a rigid body is a continuous object! How to
calculate its center of mass?
• This is where calculus (again) enters the arena!
• We can divide a rigid body into many small parts, each
with the same very small mass Δ𝑚. Each is located at 𝑥𝑖
and 𝑦𝑖 . Its center of mass is given by:
1 1
𝑥𝑐𝑚 = σ𝑖 Δ𝑚 𝑥𝑖 ; 𝑦𝑐𝑚 = σ𝑖 Δ𝑚 𝑦𝑖
𝑀 𝑀
• If we have so many particles with an infinitesimally small
mass 𝑑𝑚, the summation turns into an integral:
1 1
𝑥𝑐𝑚 = 𝑀 ∫ 𝑥 𝑑𝑚; 𝑦𝑐𝑚 = 𝑀 ∫ 𝑦 𝑑𝑚
 Center of Mass Calculation
for Continuous Object (2)
• Find the center of mass of a uniform rod with mass M and length L!
Step 1
We divide the rod into small pieces of width 𝑑𝑥 at a
position 𝑥 and mass 𝑑𝑚.

Step 2
𝑀 𝑑𝑚 𝑀
Uniform condition: 𝐿 = 𝑑𝑥 . Or:𝑑𝑚 = 𝐿 𝑑𝑥.

Step 3 Step 4
Use the center of mass formula keeping in mind 𝑑𝑚 = Finish it off!
𝑀
𝑑𝑥 and the rod is located from 𝑥 = 0 to 𝑥 = 𝐿: 1 𝐿 1 1 2 𝑥=𝐿 1
𝐿
𝑥𝑐𝑚 = න 𝑥𝑑𝑥 = 𝑥 ቚ = 𝐿
1 1 𝐿 𝑀 𝐿 0 𝐿2 𝑥=0 2
𝑥𝑐𝑚 = න 𝑥 𝑑𝑚 = න 𝑥 𝑑𝑥
𝑀 𝑀 0 𝐿 Of course it will be exactly at the center of the rod! It is a
uniform rod!
Some Challenge!
• Using the integral formulation, proof that the center of mass of a
uniform circle is located exactly at the center!
Pure Rotational Kinetic Energy
• Rotation is a movement just like translation. So, it has a
kinetic energy!
• Assume that a rigid body consists of 𝑛 discrete particles,
each with mass 𝑚𝑖 , position with respect to the CoM 𝑟𝑖 ,
and translational speed 𝑣𝑖 .
• The system’s
𝑛
kinetic energy
𝑛
is given by: 𝑛
1 1 1
𝐾 = ෍ 𝑚𝑖 𝑣𝑖 = ෍ 𝑚𝑖 𝜔𝑟𝑖 = ෍ 𝑚𝑖 𝑟𝑖2 𝜔2
2 2
2 2 2
𝑖=0 𝑖=0 𝑖=0

Moment of Inertia 𝐼
1
• So, the rotational kinetic energy is: 𝐾𝑟𝑜𝑡 = 𝐼𝜔2
2
Moment of Inertia vs Mass
• Moment of inertia is the rotational equivalent
of mass in translational motion.
• Objects with larger mass have a larger
inertia, meaning that they’re harder to
accelerate. Similarly, an object with a larger
moment of inertia is harder to rotate.
• Moment of inertia depends on:
• The mass
• How the mass is distributed
Moment of Inertia of Various Objects

But… but…
How to get this
formula?

We’ll find out soon!

Homework #2
Take Home Lesson
• Rotational kinematics works like translational kinematics
• Pure Rotation is a rotation around a center of mass where the
center of mass does not move
• Center of Mass is the mass-weighted center of the object
• Rotation has kinetic energy which is similar to translational kinetic
energy except that the moment of inertia and angular velocity is
used to replace mass and velocity
Enjoy the journey!