i7Chapter 8

Rotational Motion and Equilibrium

Important Terms:

Rigid Body = an object or system of particles in which the distances between particles
are fixed and remain constant

Translational Motion = every particle has the same instantaneous velocity which means
there is no rotation

Rotational Motion = particles of an object have the same instantaneous angular velocity
and travel in circles about the axis of rotation.

Instantaneous Axis of Rotation = a rolling object rotates about this axis through which
its point of contact with the surface or along its line of contact with the surface.

Moment Arm (lever arm) = the perpendicular distance between the point and the force.

Torque = the product of the force and the lever arm

Translational Equilibrium = the net force on a body is zero

Concurrent Forces = forces with lines of action through the same point

Rotational Equilibrium = the sum of the torques acting on an object is zero

Mechanical Equilibrium = a body is said to be in this state if both the translational and
rotational equilibrium are satisfied.

Static Equilibrium = the condition that exist when a rigid body remains at rest

Center of Gravity = the point at which all the weight of an object may be considered to
be concentrated in representing it as a particle

Stable Equilibrium = any small displacement results in a restoring force or torque,

which tends to return the object to its original equilibrium position

Unstable Equilibrium = any small displacement from equilibrium results in a force and
a torque that tends to rotate the object farther away from its equilibrium position

Moment of Inertia = the summation of the product of the mass and the square of the
distance from the center

Parallel Axis of Theorem = the moment of inertia about such a parallel axis
Rotational Work = force acting tangentially along an arc length

Rotational Power = the rotational analogue of power

Rotational Kinetic Energy = the rotational analogue of kinetic energy

Angular Momentum = the product of a moment arm and a linear momentum

Conservation of Angular Momentum = in the absence of an external, unbalanced

torque, the total vector angular momentum of a system is conserved or remains constant

Important Equations:

Condition for Rolling without Slipping

v CM =rω
( s=rθ∨aCM =rα )

Where: VCM = velocity of the center of mass

r = radius
ω = angular velocity
s = arc length
θ = angular displacement
aCM = acceleration of the center of mass
α = angular acceleration

Torque
F
t=r

Where: t = torque
r^ = perpendicular distance
F = force

Conditions for Translational and Rotational Mechanical Equilibria

SF i=0
St i=0

Torque on a Particle
F r ¿ 2
t=r =F =rma mr α

Moment of Inertia
2
I =Sm i r i

Rotational Form of Newton’s Second Law

t=I α
 Parallel Axis Theorem
I =I CM + M d 2

Where: I = moment of Inertia

ICM = moment of inertia of the center of mass
M = mass
d = distance from the neutral axis

Rotational Work
W =tθ

Rotational Power
P=tω

Work Energy Theorem

1 1
W = ΔK = I ω f 2 – ωi2
2 2

Rotational Kinetic Energy

1
K= I ω2
2

Kinetic Energy of a Rolling Object

1 1
K= I CM 2= M v 2CM
2 2

Angular Momentum of a Particle in Circular Motion

2
r¿
L=r p =mr v =m ¿

Angular Momentum of Rigid Body

L=Iω

Torque in Terms of Angular Momentum

ΔL
t=
Δt
Conservation of Angular Momentum
Iω=I i ω i
Example 1: A cylinder with a radius of 12cm rolls with an instantaneous angular speed of
0.75rad/sec down the inclined plane. If the center of mass of the cylinder travels at the
speed of 0.10m/s at this time, does the cylinder roll without slipping? The cylinder goes
onto a level surface and rolls without slipping with the same speed of the center of mass
as in the first. Assuming this speed remains constant for 2.0s, through what angle does
the cylinder turn during this time?

Given: t=2 s
r=12 cm=0.12m
ω=0.75 rad / s Required:
V cm =0.10 rad /s a . V cm ∨V =?
b . θ=?

Solution:
a . V =rω=( 0.12 )(0.75)=0.09 m/s
0.09m/s < 0.10m/s: the cylinder slips

v 0.10 m/ s
ω= = =0.83 rad /s
r 0.12m

b . θ=ωt
θ=0.83 rad /s ( 2.0 sec. ) =1.66 rad

Example 2: In our bodies, torques are produced by the contraction of our muscles causes
some bones to rotate at joints. With the axis of rotation through the elbow joint and the
muscles attached 4.0cm from the joint, what are the magnitudes of the muscle torques for
cases from a 120o and 90o if the muscle exerts a force of 600N?

Given:
d=4 cm=0.04 m
F=600 N
θ1=120 °
θ2=90°

Required:
τ =?

Solution:
a . τ=F d =600 ( 0.04 ) cos 30=20.78 Nm

b . τ=F d =600 ( 0.04 m ) cos 0=24 Nm

Example 3: Three masses are suspended from a meter stick. How much mass must be
suspended on the right side for the system to be in static equilibrium?

0 20cm 50cm 85cm

25g 75g M
=?

Given:
m1=25 g Required:
d 1=0 cm m3=?
m2=75 g
d 2=20 cm Solution:
d 3=85 cm Σ τ=0+ cw
center of gravity =50 cm −25 ( 50 )−75 ( 30 ) + x ( 35 )=0

R Wp = 78kg
1.6m

Wl = 15kg
1.0m

5.6m

25 (50 )+ 75 ( 30 )
x= =100 g
35
Example 4: A ladder with a mass of 15kg rests against a smooth wall. A painter who has
a mass of 78kg stands on the ladder. What frictional force must act on the bottom of the
ladder to keep it from standing?
Given:
mladder =15 kg
m painter=78 kg

Required:
f =?

Solution:
Σ F h=0+ →
R−f =0
R=f

Σ τ b=0+ cw
−w l ( 1 )−w p ( 1.6 ) + R ( 5.6 ) =0
−15 ( 9.81 ) (1 ) −78 ( 9.81 )( 1.6 )+ 5.6 R=0
15 ( 9.81 ) +78 ( 9.81 ) (1.6)
R= =244.90 N
5.6

f =R=244.90 N

Example 5: Uniform, identical bricks 20cm long are stacked so that 4.0cm of each brick
extends beyond the brick beneath. How many bricks can be stacked in this way before
the stack falls over?

Given:
l=20 cm Required:
extension=4 cm n=?
Solution:
Σm x́=mi x i
2bricks
m( x1 + x 0 )
x́=
2m
0+4
x́= =2 cm
2

3bricks
m( x1 + x 2+ x3 )
x́=
3m
0+4 +8
x́= =4 cm
3

4bricks
m( x1 + x 2+ x3 + x 4 )
x́=
4m
 0+4 +8+12
x́= =6 cm
4

5bricks
m( x1 + x 2+ x3 + x 4 + x 5 )
x́=
5m
0+4 +8+12+16
x́= =8 cm
5

6bricks
m( x1 + x 2+ x3 + x 4 + x 5 + x 6 )
x́=
6m
0+4 +8+12+16+ 20
x́= =10 cm
6

7bricks
m( x1 + x 2+ x3 + x 4 + x 5 + x 6 + x 7)
x́=
7m
0+4 +8+12+16+ 20+ 24
x́= =12 cm
7

12cm exceeds the half the length of the brick at the bottom
Ans: 6bricks
Example 6: Solve for the moments at each point. Each square has a 2m x 2m dimension.

500N; 3:4
A

200N
B D

100N

d= √ 32 + 42= √9+ 16=√ 25=5

 Fx x Fx 500(4)
= ; F x= = =400 N
F d d 5

Fy y Fy 500 (3)
= ; F y= = =300 N
F d d 5

M A=−300 ( 4 ) −200 ( 4 )+ 100 ( 4 )=−1600 Nm

M B=400 ( 4 )=1600 Nm
M C =400 ( 6 )+ 200(2)=2800 Nm
M D =300 ( 4 )+ 400 ( 4 )−100 (4)=2400 Nm
M E =300 ( 6 ) +400 ( 10 ) +200 ( 6 )−100(6)=6400 Nm

Example 7: Find the moment of inertia about the axis indicated for each of the one-
dimensional dumbbell. Consider the mass of the connecting bar to be negligible.

Given:
a. m1 = m2 = 30kg, x1 = x2 = 0.50m
b. m1 = 40kg, m2 = 10kg, x1 = x2 = 0.50m
c. m1 = m2 = 30kg, x1 = x2 = 1.50m
d. m1 = m2 = 30kg, x1 = 0m & x2 = 3.0m
e. m1 = 40kg, m2 = 10kg, x1 = 0m & x2 = 3. 0m

Required:
I=?

Solution:
0.50
¿
a. ¿
I =Sm i r i2=30 ( 0.50 )2 +30 ¿
0.50
¿
b. ¿
I =Sm i r i =40 ( 0.50 )2+10 ¿
2
 30 ¿ ( 1.50 )2=135 kg m2
c.
I =Sm i r i2=2 ¿
3.00
¿
d. ¿
I =Sm i r i =30 ( 0 )2 +30 ¿
2

3.00
¿
e. ¿
I =Sm i r i2=40 ( 0 )2+10 ¿

Example 8: A student opens a 12kilogram door by applying a constant force of 40N at a

perpendicular distance of 0.90m from the hinges. If the door is 2.0m in height and 1.0m
wide, what is the magnitude of the angular acceleration? Assume that the door rotates
freely on its hinges.

Given:
mdoor =12 kg Solution:
F=40 N τ =Fd =40 N ( 0.9 m )=36 Nm
d=0.90 m
h=2.0 m 1 1
I = m L2= (12 kg )( 1.0 m )2=4 kg m2
w=1.0 m 3 3

Required: τ 36 Nm
α= = =9 rad /s 2
α =? I 4 kg m 2

Example 9: A solid, rigid spherical ball of mass M and radius R is released at the top of
a hard surfaced inclined plane. The ball rolls without slipping, with only static friction
between it and the plane. What is the acceleration of the ball’s center of mass?

Given: τ =R f s =Iα
m=m
r=r R f s=( 25 m R )( Ra )
2

2
Required: f s= ma
5
acm =?
Σ F=ma
Solution: mgSinθ−f s=ma
 2 7
m gSinθ− m a=ma gSinθ= a
5 5

5
a= gSinθ
7
Example 10: A uniform, solid 1.0kg cylinder rolls without slipping at a speed of 1.8m/s
on a flat surface. What is the total kinetic energy of the cylinder?

Given: Solution:
m=1.0 kg 2
KE=0.5 I ω +0.5 m v
2

v =1.8 m/s v 2

Required:
KE=0.5 0.5 m R
( 2
)
2
R ( )
+0.5 m v
2
2

KE=0.25 m v +0.5 m v
KE T =?
KE=0.75 m v 2
KE=0.75( 1)(1.8)2
KE=2.40 J
Example 11: A uniform cylindrical hoop is released from rest at a height of 0.25m near
the top of an inclined plane. If the cylinder rolls down the plane without slipping and
there is no energy loss due to friction, what is the linear speed of the cylinder’s center of
mass at the bottom of the incline?

Given:
h=0.25 m

Required:
v =?

Solution:
E=E o
2 2
mg hi=0.5 m v +0.5 I ω
2
2 v
2
mg hi=0.5 m v +0.5 ( m R )
2
( )
2
R
mg hi=0.5 m v +0.5 m v
m g hi =m v 2
 1.57 m
v =√ g hi =√ ( 9.81 )( 0.25 )= Example 12: A small ball at the end of a string that
s
passes through a tube is swung in a circle. When the string is pulled down through the
tube, the angular speed of the ball increases, is this caused by a torque due to the pulling
force? If the ball is initially swung at a speed of 2.8m/s in a circle with a radius of 0.30m,
what will be its tangential speed if the string is pulled down far enough to reduce the
radius of the circle to 0.15m?

Given:
v =2.8 m/ s
r 1=0.30 m
r 2=0.150 m

Required:
v 2=?

Solution:
I i ω i=I f ω f
v v
( ) ( )
( m R1 2 ) R = ( m R2 2 ) R
1 2
v 1 R1=v 2 R2
v R ( 2.8 )( 0.3 ) m
v 2= 1 1 = =5.60
R2 0.15 s
Name:
Section:

1. A uniform bar 5m long weighs 200N & is supported at its end by 2 walls. Find the
reaction of the walls against the beam when a man weighing 750N stands on the beam at
a distance 2m from l end.
200N 750N
Given:
l=5 m 2m
W b =200 N 2.5m

W m =750 N

Required: 5m
R A =? RA RB
RB =?

Solution:

F 1∗l 1+ F 2∗l 2
RB =
l

200∗2.5+750∗3
RB =
5

RB =550 N

R A =Σ( F)−Rʙ

R A =( 200+750 )−550

R A =400 N
2. Solve for the moments at each point. Each square has a 2m x 2m dimension.

1300N; 5:12
A

B D 500N

700N

d= √ 52 +122=√ 25+1 44=√ 169=13

Fx x Fx 1300(12)
= ; F x= = =1200 N
F d d 13

Fy y Fy 1300 (5)
= ; F y= = =5 00 N
F d d 13

M A=−5 00 ( 4 ) −50 0 ( 4 )+7 00 ( 4 )=−1 200 Nm

M B=120 0 ( 4 ) =48 00 Nm
M C =12 00 ( 6 ) +50 0(2)=82 00 Nm
M D =5 00 ( 4 )+ 1200 ( 4 ) −7 00(4 )=4000 Nm
M E =500 ( 6 ) +1200 ( 10 ) +500 ( 6 )−700 (6)=138 00 Nm