PHYSICS FOR ENGINEERS (LECTURE)

Module 3 (PART 1, 2 and 3) / First Semester

Ms. Marie Therese Bernadette F. Sales, PhDTM By: Angelica <3

MODULE 3 (PART 1) : ROTATIONAL KINEMATICS

ANGLE AND RADIAN MOMENT OF INTERTIA

Circumference S
𝒔
𝒔 = (𝟐𝝅)𝒓 𝟐𝝅 = 𝒓
▪ 𝜃 can be defined as the arc length s along a circle divided by the
radius r:
𝒔
𝜽=
𝒓
▪ 𝜃 is a pure number, but commonly is given the artificial unit, radian
(“rad”)
𝟑𝟔𝟎𝟎
▪ 𝟑𝟔𝟎𝟎 = 𝟐𝝅 𝒓𝒂𝒅 𝑜𝑟 𝟏 𝒓𝒂𝒅 = 𝟐𝝅
Whenever using rotational equations, you must use angles expressed in
radians.
AVERAGE AND INSTANTANEOUS ANGULAR SPEED
𝜽𝒇 −𝜽𝒊 ∆𝜽
▪ The average angular speed, 𝝎𝒂𝒗𝒈 = =
𝒕𝒇 −𝒕𝒊 ∆𝒕
∆𝜃 𝑑𝜃
▪ The instantaneous angular speed: 𝜔 ≡ lim =
∆𝑡→0 ∆𝑡 𝑑𝑡 - If the inertia is small, then it is easy to turn.
SI UNIT: Radian per second (rad/s) - If the inertia is large, then it is harder to turn.
➢ Positive – rotating in counterclockwise - Inertia is inversely proportional to angular motion.
➢ Negative – rotating in clockwise
AVERAGE AND INSTANTANEOUS ANGULAR
ACCELERATION
𝝎𝒇 −𝝎𝒊 ∆𝝎
▪ The average angular acceleration, 𝜶𝒂𝒗𝒈 = =
𝒕𝒇 −𝒕𝒊 ∆𝒕
∆𝜔 𝑑𝜔
▪ The instantaneous angular speed: 𝛼 ≡ lim =
∆𝑡→0 ∆𝑡 𝑑𝑡
SI UNIT: Radian per second (rad/s)
➢ Positive – angular acceleration is in the counterclockwise
o If an object rotating counterclockwise is speeding up
o If an object rotating clockwise is slowing down
➢ Negative – angular acceleration is in the clockwise
o If an object rotating counterclockwise is slowing down
o If an object rotating clockwise is speeding up
COMPARISONS
SPEED
- The linear velocity is always tangent to the circular path
(called tangential velocity)
- The magnitude is defined by the tangential speed
∆𝑠
∆𝜃 =
𝑟
∆𝑠 1∆𝑠 𝑣
∆𝜃 = = 𝑟∆𝑡 𝜔=𝑟 or 𝑣 = 𝑟𝜔
𝑟
ACCELERATION
- The tangential acceleration is the derivative
of the tangential velocity
∆𝑣 = 𝑟∆𝜔
∆𝑣 ∆𝜔
= 𝑟 ∆𝑡 = 𝑟𝛼 𝛼𝑡 = 𝑟𝛼 or 𝑣 = 𝑟𝜔
∆𝑡
CENTRIPETAL ACCELERATION
- An object traveling in a circle, even though it
moves with a constant speed, will have an acceleration
o Therefore, each point on a rotating rigid
object will experience a centripetal acceleration
𝑣 2 (𝑟𝜔)2
𝛼𝑟 = = = 𝑟𝜔2
𝑟 𝑟
RESULTANT ACCELERATION
- The tangential component of the acceleration
is due to changing speed • The centripetal component The greater the inertia, the greater the torque.
of the acceleration is due to changing direction • Total - Inertia is directly proportional to torque.
acceleration can be found from these components Same force; even bigger torque
𝑎 = √𝑎𝑡2 + 𝑎𝑟2 = √𝑟 2 𝛼 2 + 𝑟 2 𝜔 2 = 𝑟√𝛼 2 + 𝜔 4 𝒕𝒐𝒓𝒒𝒖𝒆(𝝉) = 𝒇𝒐𝒓𝒄𝒆 𝒙 𝒎𝒐𝒎𝒆𝒏𝒕 − 𝒂𝒓𝒎
𝒕𝒐𝒓𝒒𝒖𝒆(𝝉) = 𝑰𝜶
𝒕𝒐𝒓𝒒𝒖𝒆(𝝉) = 𝑭𝑹𝒔𝒊𝒏𝜽
 PHYSICS FOR ENGINEERS (LECTURE)
Module 3 (PART 1, 2 and 3) / First Semester
Ms. Marie Therese Bernadette F. Sales, PhDTM By: Angelica <3

TORQUE AND ANGULAR ACCELERATION

Lever arm: l or R
(Perpendicular distance)

𝝉 = 𝑭(𝑹𝒔𝒊𝒏𝜽) = 𝑭 ∙ 𝑹

𝝉 = (𝑭𝒔𝒊𝒏𝜽)𝑹 = 𝑭 ∙ 𝑹

By Newton’s 2nd Law: F = ma

But 𝑎 = 𝑟𝛼
𝐹 𝑟 = 𝑚𝑟𝛼𝑟
𝜏 = 𝑚𝑟 2 𝛼
𝜏 = 𝐼𝛼
 PHYSICS FOR ENGINEERS (LECTURE)
Module 3 (PART 1, 2 and 3) / First Semester
Ms. Marie Therese Bernadette F. Sales, PhDTM By: Angelica <3

MODULE 3 (PART 2): ROTATIONAL DYNAMICS

EQUILIBRIUM
1ST Condition: 2nd Condition:
∑𝐹𝑥 = 0 ∑𝑇0 = 0
∑𝐹𝑦 = 0
CONSERVATION OF ANGULAR MOMENTUM
“When two bodies A and B interact with each other but not with anything else,
their total angular momentum with respect to any specific axis is constant.”
According to Newton’s 3rd law:
𝐹𝐴 + 𝐹𝐵 = 0
Note: If the forces act along the same line, their moment arms w.r.t the chosen
axis are equal. Torques of these two forces are equal and opposite.
𝑇𝐴 + 𝑇𝐵 = 0
ANGULAR MOMENTUM AND ANGULAR IMPULSE
- If the objects placed inside a ball rolled are different.
o Angular velocity of the particles are the same but
different inertia.
angular momentum = L = mvr = pr
where: p = mv = linear momentum
𝐿 = 𝑚1 𝑟12 𝜔 + 𝑚2 𝑟22𝜔 + 𝑚3 𝑟32𝜔 …
but 𝐼 = ∑𝑚𝑟2
𝐿 = 𝐼𝜔
𝑇(𝑡2 − 𝑡1 ) = 𝐼(𝜔2 − 𝜔1 )
= 𝐿2 − 𝐿1
CONSERVATION OF ANGULAR MOMENTUM
- HIGHEST POINT: angular velocity
is highest; inertia is lowest
- LOWEST POINT: angular velocity
is lowest; inertia is highest

WORK AND POWER IN ROTATIONAL MOTION

If 𝝉 is constant while the angle changes by finite amount,
𝑊𝜃 = 𝜏(𝜃2 − 𝜃1 )
= 𝜏(𝜃2 − 𝜃1 )
____________
𝑃𝜃 = (𝑡2 − 𝑡1 )
= 𝜏(𝑣2 − 𝑣1 )
DERIVATION OF FORMULA:
 PHYSICS FOR ENGINEERS (LECTURE)
Module 3 (PART 1, 2 and 3) / First Semester
Ms. Marie Therese Bernadette F. Sales, PhDTM By: Angelica <3

MODULE 3 (PART 3): UNIFORM CICRCULAR MOTION

UNIFORM CIRCULAR MOTION THE UNIVERSAL LAW OF GRAVITY

- Motion of an object traveling at a constant (uniform) speed on a - Newton was not the first to discover gravity. Newton discovered
circular path of radius R that gravity is universal.
CENTRIPETAL FORCE - Legend—Newton, sitting under an apple tree, realized that the
- The net force required to keep an object moving on a circular path force between Earth and the apple is the same as that between
moons and planets and everything else.
- In uniform circular motion, there must be a net force to produce the
centripetal acceleration - Everything pulls on everything else.
- Every body attracts every other body with a force that is directly
- The direction of the centripetal force always points toward the
center of the circle and continually changes direction as the object proportional to the product of their masses and inversely
proportional to the square of the distance separating them.
moves
EXAMPLE: FORMULA:
𝒎𝒂𝒔𝒔𝟏 ×𝒎𝒂𝒔𝒔𝟐 𝒎𝟏 𝒎𝟐
- As a car makes a turn, the force of friction acting upon the turned 𝒇𝒐𝒓𝒄𝒆 ~ or 𝑭 ~
wheels of the car provides centripetal force required for circular 𝒅𝒊𝒔𝒕𝒂𝒏𝒄𝒆𝟐 𝒅𝟐
where m = mass of the object
motion d = distance between their centers
- As a bucket of water is tied to a string and spun in a circle, the examples:
tension force acting upon the bucket provides the centripetal force
• The greater the masses m1 and m2 of two bodies, the greater the
required for circular motion
- As the moon orbits the Earth, the force of gravity acting upon the force of attraction between them.
moon provides the centripetal force required for circular motion. • The greater the distance of separation d, the weaker the force of
FORMULAS: attraction.
▪ Gravity is the weakest of four known fundamental forces.
𝒎 𝒎
𝒗𝟐 ▪ With the gravitational constant G, we have the equation: 𝑭 = 𝑮 𝒅𝟏 𝟐 𝟐
𝑭𝒄 = 𝒎𝒂𝒄 = 𝒎 ▪ Universal gravitational constant equation is:
𝒓 𝑮 = 𝟔. 𝟔𝟕 × 𝟏𝟎−𝟏𝟏 𝑵𝒎𝟐 /𝒌𝒈𝟐
▪ Once value was known, mass of Earth was calculated as 6 × 1024 𝑘𝑔

INVERSE-SQUARE LAW
∆𝒗 𝒗∆𝒕
=
𝒗 𝒓

∆𝒗 𝒗𝟐
=
∆𝒕 𝒓
WEIGHT AND WEIGHTLESSNESS
𝒗𝟐 WEIGHTLESSNESS
𝒂𝒄 = - No support force, as in free-fall
𝒓 Example: Astronauts in orbit are without support forces and are in a continual
state of weightlessness.
𝐴𝑐 = 𝐶𝐸𝑁𝑇𝑅𝐼𝑃𝐸𝑇𝐴𝐿 𝐴𝐶𝐶𝐸𝐿𝐸𝑅𝐴𝑇𝐼𝑂𝑁 SATELLITES IN CIRCULAR ORBITS
𝒎𝑴𝑬 𝒗𝟐
PERIOD (T) – time to complete one revolution 𝑭𝒄 = 𝑮 𝟐 = 𝒎
𝟐𝝅𝒓 𝒓 𝒓
𝒗=
𝑻
UNBANKED CURVES
On an unbanked curve, the static
frictional force provides the centripetal 𝑮𝑴𝑬 𝟐𝝅𝒓
𝒗=√ =
force 𝒓 𝑻

BANKED CURVES 𝟐𝝅𝒓𝟑/𝟐

𝑻=
√𝑮𝑴𝑬
𝒗𝟐
𝑭𝑵 𝒔𝒊𝒏𝜽 = 𝒎
𝒓
𝑭𝑵 𝒄𝒐𝒔𝜽 = 𝒎𝒈

𝒗𝟐
𝒕𝒂𝒏𝜽 = 𝒓𝒈