Centre of Mass Centre of mass for various shapes Motion of centre of mass Moment of Inertia Perpendicular axis theorem Iz

•Avg.position of all the parts of the velocity of centre of mass

system, weighted according to their mass
Uniformly distributed mass centre of mass → → → i) for discrete system of particles Iz=Ix + Iy (Only valid for laminar bodies)
→ M1V1 + M2V2 + M3V3 +--
Vcm=
M1+M2+M3+------ m PHYSICS
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2

•For homogeneous objects, 1) Rod m

L/2 L/2 Acceleration of centre of mass
1
Note:- Ix
centre of mass lies at r1
r2 m
3
For n particles X and Y axis must lie in the plane of body
their geometric centre → → → _
Z- axis must be to the plane of the body
)
__
) L M1a1 + M2a2 + M3a3 +-- r3 __
__
m
(0,0) ,O → __
_
COM
2 acm= Axes need not pass through center of mass
_ n
__
__
•Centre of mass may or may M1+M2+M3+M4------ __
__
__
__
rn
IY
_
not lie inside the object __
__
__
__

x
2) Square Lamina

n
tio
ta
Isolated System

ro
of
is
ax
•No net external force acting m1r12 + m2r22 + m3r32+---mnrn2
COM
) L L
, ) on the system I =
m1+m2+m3+------mn Moment Of Inertia For Various Objects
L 2 2 •bodies within the system can
Centre of Mass For have mutual force between
(0,0) then
System of n Particles Disc Ring Thin Rod
C.M
I=MR2
M1 M2
3) Semicircular Ring m
Σmr
<
r1
x
r2 < ii) for continuous body
rcm= y
Σm m2 M1r1=M2r2
(x1y1z1)
acm=0,vcm=constant I = ∫dI = ∫r2dm l
(x2y2z2) R
O, 2R )
COM )
m1 M
C.M m3  R
r2 (x3y3z3) Moment of Inertia I=
ml2
Iend=
ml2
r1 (xcmycmzcm) M 3
for n particles (O,O)
(for a point object) 12
r3 mn
4) Hemispherical shell I21= 3 MR2
rcm
(xnynzn) r
I=mr2 r I2= 5 MR2 2 I1= 2MR2
rn
m dm 4 Hollow sphere
I1= 3 MR2
MR2 2
x I=
2 I= 2 MR2
3
I‛= 5 MR2
COM
O, R ) m= Mass of body
)
2 3
r= Perpendicular distance of the Hollow cylinder
General Equation (O,O)
Solid cylinder
bodyfrom the axis of rotation
m1r1 + m2r2 + m3r3 + -----mnrn Moment of Inertia I=MR2 R
rcm= 5) Solid circular cone I=
MR2
m1 + m2 + m3 + -----+ mn M 2 M
Parallel Axis Theorm R
Tensor Quantity I=mr2 Rotational 3
analogous I=
‛
MR2 R
2
In terms of Cartesian co-ordinates of mass Iparallel ICOM
h O, h )
)
a
m1x1 + m2x2 + m3x3 + -----mnxn COM 4 M
xcm=
m1 + m2 + m3 + -----+ mn (O,O)
Two Point Masses COM Solid sphere

ICOM= m1r21 + m2r22 I‛= 7 MR2

m1y1 + m2y2 + m3y3 + -----mnyn 6) Solid hemisphere 5
ycm=
m1 + m2 + m3 + -----+ mn I= 2 MR2
r 5
O, 3R ) I‛= 2MR2
)
m1z1 + m2z2 + m3z3 + -----mnzn 8
com
zcm= m1 r1 r2 m2
Iparallel=ICOM+Ma2
(O,O)
m1 + m2 + m3 + -----+ mn
m2r m1r Conditions:-
r 1= r 2=
m1+ m2 m1+ m2 1) the two axes must be parallel
to each other
m1m2 2) One of the axis must pass through
Cavity in object Icom= mred r2 mred= centre of mass
Centre Of Mass For m1+m2
Continuous Body If some mass is removed from a
body, COM will shift towards
the side with more mass
Factors Affecting
∫dm.r
COM of
Moment of Inertia Moment of Inertia along the centre of mass and perpendicular to the plane surface
y rcm= remaining body rrem rcav Mcav
dm
∫dm O

1) Ring 2) Disc 3) Square sheet 4) Rectangular sheet

λ= mass per unit length
σ= mass per unit area Mass of Mass MR2 Ml2
ρ= C.M of Axis of
r mass per unit volume
orginal body C.M of the body rotation distribution MR2(⊥to plane) 2 6
M
(assumed origin) cavity ( l2 + b 2 )
MR2 12 l
MR2 ( Parallel to plane) 4 l
x Assuming COM of original body is at 2 b

ROTATIONAL
the origin Ml2
1) Mass distributed over length ⇒ dm=λ dl R
Mb2
12
R 12
2) Mass distributed over area ⇒ dm=σ dA - Mcav x rcav
rrem=

MOTION 01
3) Mass distributed over volume ⇒ dm= ρdV M Ml2
Mrem Ml2 12
M M
MR2 (Parallel to plane) MR2
12
2 4
 x1 x2 1)When θ =900 Discs initially rotating Mechanical energy conservation
 in opposite direction:-
|L|=r p sin θ B Angular velocity with which the rod hits
Radius of Gyration Equilibrium 2T = rp sin 900 I1ω1-I2ω2 the ground without slipping, released


from rest
=rp ωf=
Definition: The distance of a point mass from F T I1+I2
the axis whose mass is equal to the mass of whole For translational m1
m3 =Lmax ω= 3g
T l
body and whose moment of inertia is equal to equilibrium 2m1m2g l

T =
Spin angular momentum I1 2
moment of inertia of the body about that axis r m1 + m2 m3g B‛
I A
m2 ω ω1
Fnet = 0
2Tx1 = m3gx2 Laxis=Iω
I= mR Rolling Motion
2
net may or maynot be
2 I=mk2 zero Translatory+Rotatory=Rolling
r ω

Angular acceleration I2 Velocity in rolling

Rω
V
F
ωd
~ k m Condition for rolling without
m = A slipping:- V=Rω
Vnet V
R = I Rω
ω ω2 Velocity of any point on
V
d
V
Vnet

Disc Rotational Equilibrium - torque

LAB=IABω
rolling object,VP Velocity w.r.t
Rω

= ωd = v d
floor is 0

F I moment of inertia
mR2 R
= mk2 = 0
Rω V
2 net
angular acceleration d is the distance from point of contact

R r Energy in rolling motion

k= Work,Energy & Power in
2 Fnet may or maynot be zero Initial angular acceleration when B rotation 1) Translatory Motion
a rod is released Conservation ofAngular momentum
1)Work done by a torque,
TK.E= 1 mv2
2
W = θ (if torque is uniform)
Initial angular acceleration when a body is 2) Spinning motion/rotational motion
k is the radius of gyration r released from an angle
If there is no external torque, = dθ (if torque is non uniform)
RK.E= 1 Iω2 = 1 mk2 V2 = 1 mv2 ( kR
2 2 (
angular momentum is conserved 2) K.E for are rotating body= 1 Iω2 2 2 R 2
F
2

+
=I 2
dL 3) Rolling motion
(mg sin ) rcm =I = =L
2
dt TK.E+RK.E= 1 mv2+ 1 mv2x k 2 = 1 mv2 1+ k 2 (

rc
2 2 (
2I
Torque dL

m
2 2 R 2 R
If =0=> =0
Static Equilibrium =
(mg sin ) rcm com dt =1 Lω
2
I L=constant ktotal
( k2
mg sin 3) Work-Energy theorm = 1+
(
Combination of both translational ktrans R2
Fsin
F
and rotational equilibrium For rod rcm = L
2
mg cos
Iω=constant ΣW= Δ K= 1 I(ω22-ω12)
2
(moment arm of I =M L
2
Motion on an inclined plane
force) Fnet = 0 Forces are balanced
3
mg I1ω1=I2ω2 Energy loss when 2 discs are joined:-

{
r 2gh V
1
= 0 = If moment of inertia increases (R
Velocity at bottom= k2 (
net clockwise anticlockwise Translation - rotation combination 1) Same direction:-
1
k2
1+ 2 2

angular velocity decreases and if v

R h
O P
Fcos - I moment of inertia decreases
II
Elost= Δ K.E= 2[I1+I2 ] (ω1-ω2)2 k2
1+
Principle of moments =
applied
Total I
opposition
angular velocity increases
1 2 R2
rsi
n R R k2 =
>V =>Time
When a body is in rotational equilibrium sum R2
m2Rg-m1Rg
of clock wise moments about any point is = ω1 Velocity:solid sphere>Disc>Hollow>Sphere>Ring
equal to sum of anticlockwise moments m1R2+m2R2+I I1
Time to reach bottom:Ring>Hollow sphere
about that point Moment of inertia when >Disc>solid sphere
Torque = r Fsin
m1 two discs are joined Value of velocity:-
o d1 d2
Discs initially rotating in same ω2 1) Ring/Hollow cylinder= gh
= Fsin x r = F r T (1) m2 I2
direction:- 2) Disc/Solid cylinder= 4 gh
= F x rsin = Fr T (2) m2>m1 3
I1ω1+I2ω2 3) Hollow sphere= 6 gh
ωf= 5
o = r x F (Vector form) I1+I2 2) Opposite direction:-
F2 4) Solid sphere= 10
If force is radial i.e. = 0o or 180o F1 I1I2
gh
Angular momentum & its conservation Elost= Δ K.E= (ω1+ ω2)2 7
2[I1+I2]
Torque = 0 F1 x d 1 = F2 x d 2 Acceleration
gsin θ 1
Load x load arm = Effort x effort arm Angular momentum of a point mass:- ω1 I1 a=
k2
a
If force is tangential and k2
T
1+ 1+
to radius vector i.e. =90o I1 ω1
R2 R2

Torque, = = rF
x3 Angular momentum about origin
  
 Time of descend:-
max
x1 x2 L=r+P v θ
(
o
t= 1 2h 1+ k2 (
 
=m(r+ v)
 sin θ g
I2
mv
R2
  
P= ω2
P=mv k2

ROTATIONAL
 ω2 t 1+
m2
r R2
m1
m3
1) When θ =0o or 1800 I2 Ring>Hollow sphere>Disc>solid sphere

m2g L0=mvr sin 180o=0

MOTION 02
m1g OR mvr sin 0o =0
m3g
Angular momentum is minimum
m1gx1 = m2gx2 + m3gx3 O

PHYSICS
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