2 Rotational Motion - HKBU

Rotational motion
Instructor: Dr. Hoi Lam TAM (譚海嵐)

Physics Enhancement Programme for Gifted Students
The Hong Kong Academy for Gifted Education
and
Department of Physics, HKBU
Department of Physics
Hong Kong Baptist University 1
Contents
• Operation of vectors
• Angular displacement, velocity and acceleration
• Torque
• Rolling
• Circular motion
Vectors
Adding vectors
We can add the vectors

graphically
Angular Displacement and angular velocity
Angular Displacement Angular Velocity
   2  1.
Average angular velocity

 2  1 
  .
t2  t1 t
Instantaneous angular velocity
 d 
  lim  .
t  0 t dt
The direction of the angular velocity vector

The direction of the vector  points along the axis of rotation,
according to the right-hand rule.
Angular Acceleration
Average angular acceleration
2  1 
   .
t2  t1 t
Instantaneous angular acceleration
 d
  lim  .
t  0 t dt
If the rotation with Constant Acceleration, then we have
  0  t ,
1 2
  0t  t ,
2
 2  02  2 .
Relationship between the linear and angular variables
The arc length
s  r
The velocity
d
v  r  r
dt
Linear velocity Angular velocity What is the direction of the
vector for the angular velocity in
this case?
Relationship between the linear and angular variables
We can separate the acceleration into two components:
Tangential component:
at  r
Radial component:
2
v
ar    2 r.
r
Kinetic Energy of Rotation
Consider the kinetic energy of a rotating rigid body:
1 1 1
K  m1v12  m2v22     mi vi2 .
2 2 i 2
Since v = r, and  is the same for all particles, we have

1 1 2 2
K   mi ri     mi ri  .
2
i 2 2 i 
 mi ri2
i
is called the rotational inertia. It tells us how the mass of the

rotating body is distributed about its axis of rotation. In summary,
I   mi ri 2 and 1 2
K  I .
i 2
Rotational inertia
 2
For continuous bodies, I   r dm.

Rotational inertia
 2
For continuous bodies, I   r dm.

Ring
1
I  MR (axis)
2
I  MR 2 (diameter)
2
Cylinder
1
I  MR 2
2
Rod
1 1 2
I  ML2 (centre) I  ML (end)
12 3
Sphere
2
I  MR 2
5
Rotational inertia
Parallel Axis Theorem
I  I cm  Mh 2
The rotational inertia of a body about any axis is equal to the
rotational inertia (= Mh2) it would have about that axis if all its
mass were concentrated at its centre of mass, plus its rotational
inertia (= Icm) about a parallel axis through its centre of mass.
Proof
 2 
 
I   r dm   ( x  a) 2  ( y  b) 2 dm,
 
which can be written as
   
I   ( x 2  y 2 )dm  2a xdm  2b ydm   (a 2  b 2 )dm.
   
   
I   ( x 2  y 2 )dm  2a xdm  2b ydm   (a 2  b 2 )dm.
   
In the first term, x2 + y2 = R2. Hence the first term becomes
 2  2
 ( x  y 2
) dm   R dm  I cm .
 
In the second and third terms, the position of the centre of mass gives
1  1 
xcm  xdm  0 ycm  ydm  0.
M M
and
 
Hence these terms vanish.

In the last term, a2 + b2 = h2. Hence the last term becomes
 2  2
 ( a  b 2
) dm   h dm  Mh 2
.
 
Perpendicular Axis Theorem
The sum of the rotational inertia of a plane lamina about any two
perpendicular axes in the plane of the lamina is equal to the
rotational inertia about an axis that passes through the point of
intersection and perpendicular to the plane of the lamina.
 2 z
I z   ( x  y 2 )dm
 y
y
 2  2
x r
  x dm   y dm
  x
 Iy  Ix
Examples
Given that the rotational inertia of a hoop about its

central axis is Ma2, what is the rotational inertia of a
hoop about a diameter?
By symmetry, Ix = Iy
Using the perpendicular axis theorem, Ix + Iy = Iz.
Since Iz = Ma2,
1
I x  Ma 2
2
Examples
A rigid body consists of two particles of mass m connected by a rod of length L and
negligible mass.
(a) What is the rotational inertia Icm about an axis through the center of mass
perpendicular to the rod?
(b) What is the rotational inertia I of the body about an axis through the left end of
the rod and parallel to the first axis?
(a) 2 2
1  1  1
I  m L   m L   mL2 .
2  2  2
(b)
Method 1: Direct calculation:
I  m(0) 2  mL2  mL2 .
Method 2: Parallel axis theorem:

2
1  L
I  I cm  Mh 2  mL2  (2m) 
2 2
= mL2
Examples
Consider a thin, uniform rod of mass M and length L.
(a) What is the rotational inertia about an axis perpendicular to the rod, through its
center of mass?
(b) What is the rotational inertia of the rod about an axis perpendicular to the rod
through one end?
(a)

I   r 2 dm

m
dm  dx
L
L
M  L   L   ML2
 
3 3
 M  M 3
L
2
I   x 2  dx   x 2
L         
 L  L  3 L 
2
3L  2   2   12
2
(b) Using the parallel axis theorem,

2
1  L 1
I  I cm  Mh  ML2  M    ML2
2
12 2 3
Radius of Gyration
The radius of gyration is that distance from the axis of rotation where we assume all
the mass of the body to be concentrated. It is given by
I  Mk 2
I
k
M
For example, for a thin rod rotating about its center,
1
I  ML2
12

L
k
12
Torque

The ability of force F to rotate the body
depends on:
(1)the magnitude of the tangential component Ft = Fsin,
(2)the distance between the point of application and the axis of rotation.
Define the torque as   rFsin.
It can be considered as either rF or rF.
Terms:
line of action
moment arm
 is positive if it tends to rotate the body counterclockwise.
It is negative if it tends to rotate the body clockwise.

  
  r  F.
Considering the vector direction,
Newton’s Second Law for Rotation
Newton’s second law:

Ft  mat .
Torque:
  Ft r  mat r.
Since at = r, we obtain
  m(r )r  (mr 2 ) .
Conclusion:
  I.
If there are more than one forces,
  I .
Examples
A uniform disk of mass M = 2.5 kg and radius

R = 20 cm is mounted on a fixed horizontal
axle. A block whose mass m is 1.2 kg hangs
from a massless cord that is wrapped around
the rim of the disk. Find the acceleration of
the falling block, the angular acceleration of
the disk, and the tension in the cord. The
cord does not slip, and there is no friction at
the axle.
Newton’s law for the hanging block
(We define downward is positive):
mg  T  ma (1)
Newton’s law for the rotating disk

(We define clockwise is positive):
1
TR  MR 2 (2)
2
Since a = R,
1
From (2): T  Ma
2
1
From (1): mg  Ma  ma
2
 M
mg   m  a
 2
a 4.8
a
2mg

(2)(1.2)(9.8)
 4.8 ms 2    24 rad s 2
M  2m 2.5  (2)(1.2) R 0.2
1 1
T  Ma   (2.5)(4.8)  6 N
2  2 Department of Physics
Examples
(Physics of judo) To throw an 80 kg opponent

 with a basic judo hip throw, you
intend to pull his uniform with a force F and a moment arm d1 = 0.30 m from a
pivot point (rotation axis) on your right hip, about which you wish to rotate him
with an angular acceleration of 6.0 rad s2, that is, with a clockwise acceleration.
Assume that his rotational inertia I is 15 kg m2.
(a) What
 must the magnitude
of F be if you initially bend
your opponent forward to
bring his centre of mass to
your hip?
(b) What
 must the magnitude
of F be if he remains upright

and his weight mg has a
moment arm d2 = 0.12 m from
the pivot point?
(a) Newton’s law for the rotating opponent
(we define anticlockwise is positive):
  d1F  I
I (15)(6)
F  
d1 0.3
= 300 N
(b)   d1F  d 2mg  I

I d 2 mg (15)(6) (0.12)(80)(9.8)
F      614 N
d1 d1 0.3 0.3
Remark: In the correct execution of the hip throw, you should bend your opponent to
bring his center of mass to your hip.
Work and Rotational Kinetic Energy
Work done by the force:

 
dW  F  ds  Ft ds  Ft rd  d .
Total work done:

f

W   d .
i
Work-kinetic energy theorem:
d d d d d  1 2 
  I  I I  I   I .
dt d dt d d  2 
Integrating over the angular displacement,

 
  d 1 2
f f
1 2 1 2
W   d    I d  I f  Ii  K
i i d  2  2 2
W  K.
Power
dW d
P   .
dt dt
Example
A uniform disk of mass M = 2.5 kg

and radius R = 20 cm is mounted on a
fixed horizontal axle. A block whose
mass m is 1.2 kg hangs from a
massless cord that is wrapped around
the rim of the disk. What is the
rotational kinetic energy K at t = 2.5 s?
Method 1: Use Newton’s law directly.
Using Newton’s law, we have found  = 24 rad s2.
  0  t  0  t  t
Rotational inertia:
1
I  MR 2
2
Kinetic energy:
1 2 11 2
K  I   MR t 
2
2 22 
1
 M Rt 
2
 2.5(0.2)(24)(2.5)  90 J
1 2
4
Method 2: Use work-kinetic energy theorem.
Word done by the torque:
W    TR
Since
1 2 1 2 1 2
  0 t   t  0   t   t
2 2 2
1 2
W  TR t 
2 
Using the work-kinetic energy theorem,
1 1
K  TRt 2  (6)(0.2)(24)(2.5) 2  90 J
2 2
Example
A tall, cylindrical chimney will fall over when its base is ruptured.
Treat the chimney as a thin rod of length L = 55 m. At the instant it
makes an angle of  = 35o with the vertical, what is its angular
speed f?
Using the conservation of energy,
K f  U f  Ki  U i
Rotational inertia about the base:

2
1  L 1
I  I cm  Mh  mL2  m   mL2
2
12 2 3
Ki  0
1 11 
K f  I 2   mL2  2
2 23 
 L
U i  mg  
2
 L
U i  mg   cos 
2
Therefore,
1 2 2 1 1
mL   mgL cos   0  mgL
6 2 2

3g
1  cos    3(9.8) 1  cos 35o 
L 55
= 0.311 rad s1 Department of Physics
Rolling
2 points of view:
(1) Combined rotation and translation
(a) Translation: the center of mass moves with velocity vcm.
(b) Rotation: the wheel rotates about the center of mass.
If the wheel rolls without slipping, s = R, then

vcm  R.
(2) Pure Rotation
Rolling can also be considered as a pure rotation, with

angular speed , about an axis through the contact point.
e.g. velocity at the top: vtop = ()(2R) = 2(R) = 2vcm.
Relationship between the angular velocity/acceleration and linear
velocity/acceleration
Kinetic Energy of Rolling
If we consider the motion as a pure rotation about the contact point,
1
K  I P 2 .
2
Using the parallel axis theorem,
I P  I cm  MR .2
Hence
1 1 1 1
K  I cm 2  MR 2 2 , and K  I cm  Mvcm
2 2
.
2 2 2 2
The kinetic energy consists of:

(a) the kinetic energy of the translational motion of the center of mass
(b) the kinetic energy of the rotation about the center of mass.
Friction and Rolling
(a) When the cyclist applies a torque on the wheel intending to make it
rotate faster, the bottom of the wheel tends to slide to the left at point
P. A frictional force at P, directed to the right, opposes the tendency to
slide.
(b) The frictional force acts on the wheel and produces the acceleration
of the bicycle.
Rolling Down a Ramp
The gravitational force tends to make the wheel slide down the ramp. There
is a frictional force opposing this sliding, and is thus directed up the ramp.
Using Newton’s second law for translational motion,
Mg sin   f s  Ma (1)
Using Newton’s second law for rotational motion,
Rf s  I cm (2)
Since a = R, we obtain from (2):

I cm
fs  2 a
R
Substituting into (1),
g sin 
a .
1  I cm / MR 2
Example
A uniform ball, of mass M = 6.00 kg and radius R, rolls smoothly from

rest down a ramp at angle  = 30.0o.
(a) The ball descends a vertical height h = 1.20 m to reach the bottom
of the ramp. What is its final speed?
(b) What are the magnitude and direction of the frictional force on
the ball as it rolls down the ramp?
(a) Method 1: Conservation of energy
K f  U f  Ki  U i
 
2
1 1 1 2 v 1 7
K f  I cm 2  Mvcm
2
  MR 2  cm2  Mvcm
2
 Mvcm
2
2 2 2 5 R 2 10
Other terms: Uf = Ki = 0, Ui = Mgh. Hence
7 2
Mvcm  0  0  Mgh
10
10 10
vcm  gh  (9.8)(1.2)  4.1 ms 1
7 7
Method 2: Newton’s law
Translational motion:
Mg sin   f s  Ma (1)
Rotational motion:
Rf s  I cm (2) where 2
I cm  MR 2
5
Since a = R, (2): fs 

I cm
a
R2
g sin  5
(1): a  g sin 
1  I cm / MR 2 7
 h  10
v 2  2a   gh
 sin   7
10 10
v gh  (9.8)(1.2)  4.1 ms 1
7 7
I 2 2 2
(b) f s  cm2 a  Ma  Mg sin   (6)(9.8) sin 30o = 8.4 N
R 5 7 7
The Yo-Yo
Using Newton’s second law for translational
motion,
Mg  T  Ma. (1)
Using Newton’s second law for rotational motion,
R0T  I cm . (2) R

R0
Since a = R0, we obtain from (2):
I cm
T 2a
R0
Substituting into (1),
g
a .
1  I cm / MR0
2
Uniform circular motion

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Rotational motion

Instructor: Dr. Hoi Lam TAM (譚海嵐)

We can add the vectors

Angular Displacement Angular Velocity

Average angular velocity

The arc length

Since v = r, and  is the same for all particles, we have

is called the rotational inertia. It tells us how the mass of the

Hence these terms vanish.

Given that the rotational inertia of a hoop about its

Using the perpendicular axis theorem, Ix + Iy = Iz.

Method 2: Parallel axis theorem:

(b) Using the parallel axis theorem,

Define the torque as   rFsin.

 is positive if it tends to rotate the body counterclockwise.

It is negative if it tends to rotate the body clockwise.

Newton’s second law:

A uniform disk of mass M = 2.5 kg and radius

Newton’s law for the rotating disk

(Physics of judo) To throw an 80 kg opponent

(b)   d1F  d 2mg  I

Work done by the force:

Total work done:

Work-kinetic energy theorem:

Integrating over the angular displacement,

A uniform disk of mass M = 2.5 kg

Rotational inertia about the base:

If the wheel rolls without slipping, s = R, then

Rolling can also be considered as a pure rotation, with

The kinetic energy consists of:

Using Newton’s second law for rotational motion,

Since a = R, we obtain from (2):

A uniform ball, of mass M = 6.00 kg and radius R, rolls smoothly from

Other terms: Uf = Ki = 0, Ui = Mgh. Hence

Since a = R, (2): fs 

Using Newton’s second law for rotational motion,

R0T  I cm . (2) R

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