NOTE

P H Y S I C S

ROTATION
ENTERING RIGID-BODY DYNAMICS

What you already know What you will learn

• Rigid body • Rotational dynamics

• Axis of rotation • Torque
• Kinematics of circular/rotational motion • Force couple

A rigid block is moving downward into a well through a rope

that is passing over a fixed pulley of radius 10 cm. Assume that
there is no slipping between the rope and the pulley. Calculate
the angular velocity and angular acceleration of the pulley at an
instant when the block is going down with a speed of 20 cm s-1
and an acceleration of 4.0 ms-2.

Solution

As there is no slipping between the rope and the pulley; velocity of the block, rope and the point
of contact of pulley will be the same.
Given,
Radius of the pulley, r = 10 cm
Velocity of the block, v = 20 cm s-1
Acceleration, at = 4.0 ms-2
We know that angular velocity is as follows:
v
ω=
r
0.2
⇒ω= = 2 rad s -1
0.1
Similarly, angular acceleration is:
at
α=
r
4
⇒α= = 40 rad s -2
0.1

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 02

x
The motor of an engine is rotating about its axis with an
angular velocity of 120 rpm. It comes to rest in 10 s after y
the engine is switched off. Assuming uniform angular
deceleration, find the number of revolutions made by it
before coming to rest.

Solution MAIN

Given,
 2π 
Initial angular velocity, ω0 = 120 rpm =  120 ×  = 4π rad s -1
 60 
Final angular velocity, ω = 0 rad s -1
Time, t = 10 s
Let α be the constant angular acceleration. We know that first equation of angular kinematics is as
follows:
ω ω0 + α t
=
⇒ 0= 4π + α × 10
4π
⇒ α =- rad s-2
10
By using the third equation of angular kinematics, we get the following:
ω 2 = ω02 + 2α ∆θ

( 4π )
2
=
⇒ 02 + 2α × ∆θ

 4π 
⇒ - ( 4π ) = 2 -
2
 × ∆θ
 10 
⇒ ∆θ =20π rad
Let n be the number of revolutions made by the engine before stopping.
∆θ 20π
n
Thus, the number of revolutions,= = = 10
2π 2π

Rotational Dynamics

Consider two equal and opposite forces, each of magnitude F, being

F
applied on opposite edges of a top. As the net force acting is zero, the F
linear acceleration of the centre of mass of the top will be zero, i.e., the
translational effect of the applied forces is zero.
However, we know that the top rotates in this case. This rotational effect
is caused by the applied forces.

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 03


Torque (τ )

Torque is the rotational effect of force.

 
• It is represented by τ and also known as moment of force. F
• SI unit: Nm 
 r P
• Torque of a force F on the system about a point O is given O
by the following equation:
  
τ= r × F

Where r is the position vector of the point of application of
the force 
τ 
• Torque is the rotational analogue of linear force. τ
• Torque is an axial vector and its direction is   
determined using the right-hand thumb rule. When r F  F
r
the fingers initially directed along position vectors
are curled towards the force vector, the thumb
represents the direction of the torque vector.
Magnitude of torque
Consider force F being applied on a body at point P, whose

position vector is r . Let θ be the angle between the position
and force vectors. P F
θ
The magnitude of torque in this case can be given as follows: r⊥ r
 O
|τ | =
r × F sin θ =r⊥ F
Where, r⊥ (= r sin θ) is the perpendicular distance of line of
action of force from the point O. It is also known as the force
arm. F cos θ
Alternatively, the magnitude of torque can also be given as P θ F
follows: 
 r F⊥ = F sin θ
=|τ | rF
= sin θ rF⊥ O
Here, F⊥ (= F sin θ) is the component of force perpendicular to
position vector.

O x0
x
A particle of mass M is released in a vertical plane from point
P at x = x0 on the x-axis. It falls vertically along the y-axis. Find 
r
the torque (τ) acting on the particle at time t about the origin.
P
y

Solution

The weight is the force that is acting on the particle in the downward direction.
The magnitude of torque in this case can be given as follows:

=|τ | rF
= sin θ rF⊥

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 04

x0
⇒ τ = x0(mg) O x
Direction is found using the right-hand thumb rule. It will be
directed along the z-axis or in the clockwise direction, or into 
r θ
the screen.
P
Thus,
 θ
τ = mgx0 kˆ r̂
y mg

A particle of mass m is projected with velocity u from

point P on a horizontal ground, making angle θ with
the horizontal. Find the total torque about the point u
of projection that is acting on the particle when it is
at its maximum height. θ
P

Solution MAIN

We know, the range of projectile projected with initial velocity u at an angle θ with ground is the
following:
u2 sin ( 2θ )
R= y Q
g u cos θ
x
Torque of gravity (mg) on the particle about point of mg
projection, P is as follows:
R u
τ mg ×
=
2 θ
P

= mg ×
(u sin (2θ ) )
2

2× g R
2
mu2 sin ( 2θ )
=
2
Direction is found by using the right-hand thumb rule. It will be directed along the negative z-axis
or clockwise direction, or going into the screen. Thus,
 mu2 sin ( 2θ )
τ ( -kˆ )
2

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 05


y =F 5 3 iˆ + 5 ˆj

 30°
Find the torque of force F on the particle P (1, 1)
about points O and A.

x
O A


 Solution BOARDS
r= OP= iˆ + ˆj
  ˆ ˆ ˆ
Given,
=rF= OP
5 =3 i i++5 j

= iˆ + ˆj
r= OP
= We 5 =3 iˆ iˆ+that
know
rF= OP +5 ˆj the torque is cross product of position vector and force vector.
= F 5 3 iˆ + 5 ˆj
= 5 3 iˆ +that
We know
F iˆ torque
5 ˆj the ˆj kisˆ crossiˆproduct
ˆj kˆ of position vector and force vector.
We know
Weτknow 
 that the torque is cross product ofofposition
that the torque is cross product positionvector
vectorand
andforce
forcevector.
vector.
⇒ O = r × F = rˆx ry rˆz = 1 1 0ˆ
ˆj Okisiscross
We know
The torque that
aboutthe
i torque
point iˆproduct
ˆj k of position vector and force vector.
as follows:
   Fˆx ˆyF F ˆ 5 ˆ 3 5ˆj 0kˆ
⇒ τ O = r × F = riˆx rˆjy rkˆz = 1iˆ
z
1ˆ 0

⇒ τO = r × F = Fri x Frjy Frkz = 1i 1j 0kˆ
⇒ τ O = r × F = Frxx Fryy Frzz = 5 13 5 1 0 0
 x y z 5 3 5 0
⇒ τ O = iˆ (0 - 0) -Fxˆj (0F-y 0) F+z kˆ (5 5- 5 3 35) 0

0 - 0)3-) kˆˆj (0 - 0) + kˆ (5 - 5 3 )
⇒ τ OO == 5iˆ (1

⇒ τO = i (0 - 0) - ˆj (0 - 0) + kˆ (5 - 5 3 )
ˆ

⇒ τ OO == 5iˆ vector
Position (1 ) kˆˆj particle
0 - 0)3-of kˆ (ith
(0 - 0) + w 5 -respect
5 3 ) to point A is, r= 0iˆ + 1 ˆj .
 ˆ
⇒ τO = 5(1 - 3 ) k 
Thus,
⇒ τ O =the (1torque
- 3of ˆ particle
) kabout point A is as follows: A is, r= ˆ ˆ
 0iˆ + 1 ˆj .
Position 5vector with respect to point
Position vector of particle with respect to point A is, r=
 0i + 1 j .
Thus, thevector
Position iˆ ofabout
torque kˆ point
ˆjparticle with ˆ is
iA as kˆ to point
ˆj follows:
respect A is, r= 0iˆ + 1 ˆj .
 
 the torque about point A is as follows:
τThus,
A = r × F = rˆx ry rˆz = 0 1 0ˆ
Thus, the torque i about ˆj k point iA ˆ is as
ˆj follows:
k
   Fiˆx Fˆjy Fkˆz 5 iˆ3 5ˆj 0 ˆ
τA = r × F = rˆx rˆy rˆz = 0ˆ 1ˆ 0kˆ
τA = r × F = Frix Frjy Frkz = 0i 1j 0k
τ A = r × F = Frxx Fryy Frzz = 5 03 5 1 00
 x y z 5 3 5 0
⇒ τ = iˆ (0 - 0
A
Fx) - Fˆj (y0 -F0z ) + kˆ5(03- 55 30)

0 -30) k)ˆ-
= (iˆ (5
⇒ τ AA =- ˆj (0 - 0) + kˆ (0 - 5 3 )
 ˆj (0 - 0) + kˆ (0 - 5 3 )
⇒ τ A = iˆ (0 - 0) -
 = iˆ (0 - 0)ˆ- ˆj (0 - 0) + kˆ (0 - 5 3 )
⇒ τ AA =-( 5 3) k

⇒ τA =- ( 5 3 ) kˆ
⇒ τ =-A ( 5 3 ) kˆ Torque About an Axis
A

We know that torque of the force F on the system shown in the figure
about point O is given by the following equation:
  
τ O= r × F  
   O r P F
Here, torque of the force F about line AB will be the component of τ O= r × F
along the same line.

B
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 06

R
Find the torque of weight about the axis passing through point P.
P
θ

Solution

We know that the torque of the weight about point P can be written
as follows:
τ = (r)(F⊥) = R(mg sin θ) = mgR sin θ R
θ mg mg sin θ
Direction can be found using the right-hand thumb rule. Here, it is
P
in the clockwise direction. The torque is the same about the axis θ
passing through point P.

Force Couple

A pair of forces, each of the same magnitude, acting in opposite directions is known as a force couple.
Let us consider the clockwise sense as positive orientation and the anticlockwise sense as negative
orientation. F
Here,
Torque about point A is as follows:
Torque about point A is as follows:
τ A= 0 + F ( 2d ) (Clockwise) d d
A B
τ A= 0 + F ( 2d ) (Clockwise) O
Torque about point B is as follows:
Torque about point B is as follows:
=τ B F ( 2d ) + 0 (Clockwise)
=τ B F ( 2d ) + 0 (Clockwise) F
Torque dueto to forcecouple
couple = Magnitudeofofone
one force ( F×)distance
× distance between their lines (2d).(22dd )..
of action
Torque
Torque due force couple==Magnitude
due toforce Magnitude of oneforce
force(F)
( between
F ) × distance between their lines
their of action
lines of action ( )

|τ | = F ( 2d ) F
|τ | = F ( 2d )
In the given figure,
Torque about point P is as follows: 2d
 A B
=|τ | F ( x1 ) + F ( x 2 )
P
x1 x2
= F ( x1 + x 2 )

= F ( 2d ) F
Thus, the torque of a force couple on a body is independent of the point about which it is being
calculated.
In other words, if the net force acting on a system is zero, the torque is the same about any point.
Properties of a force couple
1. The net force acting on the body is zero.
2. The net torque acts on the body.
3. The torque about any point will be the same. If the net force and the net torque are zero, then
the torque about any point will be zero.

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