Centre of Mass Centre of mass for various shapes Motion centre of mass Moment of Inertia Theorm of Perpendicular axis 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 +--
•For homogeneous object, Vcm=
M1+M2+M3+------ m PHYSICS
WALLAH
2
centre of mass lie at 1) Rod m
Acceleration of centre of mass
1
Note:- Ix
their geometric centres L/2 L/2 r2 m _ For n particles X and Y axis lie in the plane of body
r1 3 __
__
→ → → __
L
 __ Z- axis need to the plane of the body
•Centre of mass, may or may
 M1a1 + M2a2 + M3a3 +-- r3 _
m
(0,0) ,O → __
_ __

not lies inside the object 2 acm= __

__
__ n
Axis need not pass through center of mass
M1+M2+M3+M4------ __
__ rn
•Centre of mass, may __
__
_
IY
__

change it‛s location x

2) Square Lamina
Isolated System
L M1r12 + M2r22 + M3r32+---Mnrn2
•No external forces acting

PHYSICS
C.M
 L L
,  on the system
I =
M1+M2+M3+------Mn Moment Of Inertia For Various Objects
L L 2 2
Centre of Mass For •They can have mutual force
(0,0) L of attraction ri = distance from axis of
System of n Particles rotation Disc Ring Thin Rod
C.M
I=MR2
M1 M2
3) Semicircular Ring m
Σmr
<
r1
x
r2 < ii) For non-point mass
rcm= y
Σm M1r1=M2r2
(x1y1z1)
m2 acm=0,vcm=constant I = ∫dI = ∫r2dm l
(x2y2z2) R


O, 2R
m1
 = ∫dm r2 m
C.M m3 R
(x3y3z3) ml2 ml2
r1
r2 (xcmycmzcm)
for n particles (O,O) Moment of Inertia m I=
12
It=
3
r3 mn
4) Hemispherical shell It1= 3 MR2
rcm
(xnynzn) r1 dm It1= 5 MR2 2
rn I=Mr2 r
4 It= 2MR2 Hollow sphere
M
It= 3 MR2
MR
2 2
x I=
2 I= 2 MR2
3
It= 5 MR2
O, R  m= Mass of body


WALLAH
2 3
r= Perpendicular distance from Hollow cylinder
General Equation (O,O)
Solid cylinder
the axis of rotation
m1r1 + m2r2 + m3r3 + -----mnrn Moment of Inertia I=MR 2 R
rcm= 5) Solid circular cone I=
MR2
m1 + m2 + m3 + -----+ mn 2 M
Parallel Axis Theorm
Tensor Quantity I=Mr2 Rotational 3
analogous I t= MR
2
R
2
In terms of Cartesian co-ordinates of mass Conditions:-
h O, h 
 1) Axis where considered to be parallel
m1x1 + m2x2 + m3x3 + -----mnxn 4 to each other
xcm=
m1 + m2 + m3 + -----+ mn (O,O)
Two Point Mass 2) One of the axis must pass through Solid sphere
centre of mass
ICOM= M1r21 + M2r22 It= 7 MR2
m1y1 + m2y2 + m3y3 + -----mnyn Iparallel ICOM
6) Solid hemispherical 5
ycm= a
m1 + m2 + m3 + -----+ mn r M I= 2 MR2
5
O, 3R 
 COM It= 2MR2
m1z1 + m2z2 + m3z3 + -----mnzn 8
com
zcm= (O,O)
M1 r1 r2 M2
m1 + m2 + m3 + -----+ mn
m2r m1r
r 1= r 2=
m1+ m1 m1+ m2

m1m2 Iparallel=ICOM+Ma2 I=Moment of Inertia along the center of mass It=Moment of Inertia along the tangent perpendicular to the plane
Cavity in object Icom= mred mred=
Centre Of Mass For m1+m2 Itl=Moment of Inertia along the tangent parallel to the plane
Non Point Mass If some mass is removed from a
body C.M will shift towards
the side with more mass
rnom
Factors Affecting
∫dm.r
C.M of
Moment of Inertia Moment of Inertia along the centre of Mass Perpendicular to the Plane Surface
y rcm= remaining body mcav
dm
∫dm
rcav 1) Ring 2) Disc 3) Square sheet 4) Rectangular sheet
λ= mass per unit length
σ= mass per unit area Mass of Mass MR2
ρ= C.M of Axis of Ml2
r mass per unit volume
orginal body C.M of the body rotation distribution MR2(COM,⊥r to plane) 2
6
Ml2 2
cavity (l + b2)
MR2 12
MR2 (COM, Parallel to plane) 4
Ml2
x 2 b

ROTATIONAL
Assuming rC.M is at the origin 12

1) Mass distributed over length ⇒ dm=λ dl Mb2

12
2) Mass distributed over area ⇒ dm=σ dA - Mcav x rcav
rrem=

MOTION 01
3) Mass distributed over volume ⇒ dm= ρdV Mrem
l Ml2
12
MR2 (COM, Parallel to plane) MR2
2 4
Ml2
12
 x1 x2 Opposite direction:- Mechanical energy conservation
1)When θ =900
 B
Radius of Gyration Equilibrium 2T |L|=r p sin θ I1ω1-I2ω2 Angular velocity with which the rod hits
ω f= the ground without slipping and one of its


=rp I1+I2 end on the ground, released from rest
Definition: The distance from the axis of a point F T
=Lmax
mass whose mass is equal to the mass of whole For translational m1
m3 ω= 3g
T m3 g
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 the axis r m1 + m2 B‛
I A
m2 ω
Fnet = 0
2Tx1 = m3x2g Lspin=Iω ω1
mR 2
net may or maynot be Rolling Motion
2 zero Translatory+Rotatory=Rolling
r

F Angular acceleration I2 Velocity in rolling

Rω
V
ω2 ωd

PHYSICS
~ k m Condition for rolling without
m = A Vres
R = I
slipping:- V=Rω Rω
V V
ω Velocity of any point on d
Vres
Disc mk2 Rotational Equillibrium - torque rolling object,VP Rω
Lspin=IABω
Velocity w.r.t

F = ωd = v d
floor is 0

I moment of inertia
R Rω V
net
= 0
angular acceleration d is the distance from point content

r Energy in rolling motion

R Work,Energy & Power
k=
Fnet may or maynot be zero Initial angular acceleration when B 1) Translatory Motion
2 a rod is released 1)Work done by a torque,W
Conservation ofAngular momentum TK.E= 1 mv2
Also called principle of moments 2
= θ (if torque is uniform)
Initial angular acceleration when abody 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 force is non uniform)
RK.E= 1 Iω2 = 1 mk2 V2 = 1 mv2 ( kR
2 2 (
Angular momentum is conserved 2 2 2
F 2) K.E= 1 Iω2 (when ω is constant) R 2

+
dL 2 3) Rolling motion
=
= L (when L is constant)
2
dt

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

{
r 2gh V
1
= 0 = If moment of intertia increases ( kR
Velocity at bottom= 2 (
when force is Radial =0 net clockwise anticlockwise Translatory - rotation combination 1) same direction:- k2
1+ 2 2

angular velocity decreases and if R h

P
Fcos - I moment of intertia decreases Δ K.E=
I 1I 2
( ω 1 - ω 2) 2 k2 =
rsi
n won‛t create
Principle of moments applied
=
Total I
opposition
angular velocity increases
2[I1+I2]
R2 >V =>Time

any torque m1 R R m1
When a body is in rotational equilibrium sum Velocity:solid sphere>Disc>Hollow>Sphere>Ring
m Rg-m1Rg
of clock wise moments about any point is = 22 ω1
equal to sum of anticlockwise moments m1R +m2R2+I I1
Time to reach bottom:Ring>Hollow sphere
>Disc>solid sphere
about that point Moment of intertia when
Torque = r Fsin
m1 two discs joined: Value of velocity:-
d1 d2
same direction:- ω2 1) Ring/Hollow cylinder= gh
= Fsin x r = F r (1) T
m2 I2
4 gh
= F x rsin = F r (2) m2>m1 I1ω1+I2ω2 2) Disc/Solid cylinder=
3
ω f=
T

I1+I2 3) Hollow sphere= 6 gh

= r x F (Vector form) 5
F2 2) Opposite direction:-
F1 4) Solid sphere= 10
If force is radial ie = 0 or 180
o o gh
I 1I 2 7
Angular momentum & its conservation Δ K.E= (ω 1+ ω 2) 2

Torque = 0 2[I1+I2]
F1 x d1 = F2 x d2 Acceleration
gsin θ 1
Angular momentum of a point mass:- a= a
If force is tangential and
T r Load x load arm = Effort x effort arm ω1 I1
1+
k2
1+
k2
to radius vector =90o I1 R2 R2
x3 Angular momentum about origin  ω1
Torque, = = rF Time of descend:-
max
x1 x2
  
L=r P
v
θ
(
t= 1 2h k2 (
+

  
I2 sin θ g 1+ R2
=m(r v) mv ω2
+

P=

 
P=mv

ROTATIONAL
 ω2 t 1+
k2
m2
r R2
m1
m2g m3
1) When θ =0o or 1800 I2 Ring>Hollow sphere>Disc>solid sphere
m1g L0=mvr sin 180=0

MOTION 02
m 3g mvr sin 0 =0

m1gx1 = m2gx2 + m3gx3 Angular momentum is minimum

O PHYSICS
WALLAH