Borans Lect13 ECVL113 Se Eee Ce 2324

My General Physics Lecture Notes Fall 2023-2024
PART-1 Mechanics
¹ sibel boran
January 7, 2024
Content
Lecture 13 Rolling and Moment

13.1 From the rotational kinetic energy of a rigid body to the moment of inertia
13.2 Parallel-Axis Theorem
13.3 Torque
13.4 Model: Rigid object under a Net Torque
13.5 Energy Considerations in Rotational Motion
13.6 Rolling Motion of a Rigid Object
13.6.1 Combined Translation and Rotation: Energy Relationships without slipping
13.6.2 Combined Translation and Rotation: Dynamics without slipping
13.6.3 Rolling Friction
13.7 SUMMARY
13.8 What we have learned in Lecture 13
¹ sibel boran PART-1 Mechanics January 7, 2024 1 / 54

For this and next Lectures
Let’s REMEMBER
¹ sibel boran PART-1 Mechanics Lecture 13 Rolling and Moment January 7, 2024 2 / 54
Let’s REMEMBER
Vector product of two vectors → Lecture 2.
Let’s REMEMBER
in TRANSLATION, Energy (translational kinetic energy of a particle) → Lecture
7, Lecture 9, Lecture 10, and Lecture 11.
Let’s REMEMBER
in TRANSLATION, Net Force (a particle under a net force model or Newton’s
second Law of Motion) → Lecture 5 and Lecture 6.
Let’s REMEMBER
Dynamics of TRANSLATION, force → Lecture 4, Lecture 5, and Lecture 6; linear
momentum → Lecture 11.
Let’s REMEMBER
in TRANSLATION, Center of Mass → Lecture 11.
Let’s REMEMBER
NOW, we will learn
Let’s REMEMBER
NOW, we will learn

in ROTATION, Energy (rotational kinetic energy of a rigid body).
Let’s REMEMBER
NOW, we will learn

in ROTATION, Net Torque (rigid body under a net Torque model).
Let’s REMEMBER
NOW, we will learn

Dynamics of ROTATION, moment of inertia of a system of particles and of a
rigid body; torque; angular momentum (next lecture).
Let’s REMEMBER
NOW, we will learn

in ROTATION, Rolling Motion of a Rigid Object (next lecture).
Let’s REMEMBER
NOW, we will learn

we will use
Let’s REMEMBER
NOW, we will learn

we will use
symmetry!!! for rigid bodies.
13.1 From the rotational kinetic energy of a rigid body to the
moment of inertia
A rotating rigid body consists of mass in motion, so it has kinetic energy.
As we will see, we can express this kinetic energy in terms of the body’s angular speed, ω, and a new quantity, called
moment of inertia, I , that depends on the body’s mass and how the mass is distributed.
When a rigid body rotates about a fixed axis,

the speed νi of the i-th particle is given by νi =
ri ω, where ω is the same body’s angular speed
and ω is the SAME for that different particles
have different values of ri . For the i-particle,
rotational kinetic energy expression becomes
1 2 1 2
Ki = mi νi = mi (ri ω) ,
2 2
1 2 2 1 2 2
KR = Σi Ki = Σi mi νi ω = Σi mi ri ω ,
2 2
1 2 2
KR = (Σi mi ri ) ω ,
2
ÍÒÒ Ò Ò Ò Ò Ò Ò Ò Ò Ò Ò ÑÒÒ Ò Ò Ò Ò Ò Ò Ò Ò Ò Ò ÒÏ
I
1 2
∴KR = I ω . (1)
2
moment of inertia
A rotating rigid body consists of mass in motion, so it has kinetic energy.
As we will see, we can express this kinetic energy in terms of the body’s angular speed, ω, and a new quantity, called
moment of inertia, I , that depends on the body’s mass and how the mass is distributed.
When a rigid body rotates about a fixed axis,

the speed νi of the i-th particle is given by νi =
ri ω, where ω is the same body’s angular speed
and ω is the SAME for that different particles
have different values of ri . For the i-particle,
rotational kinetic energy expression becomes
1 2 1 2
Ki = mi νi = mi (ri ω) ,
2 2
1 2 2 1 2 2
KR = Σi Ki = Σi mi νi ω = Σi mi ri ω ,
2 2
1 2 2
KR = (Σi mi ri ) ω ,
2
ÍÒÒ Ò Ò Ò Ò Ò Ò Ò Ò Ò Ò ÑÒÒ Ò Ò Ò Ò Ò Ò Ò Ò Ò Ò ÒÏ
I
1 2
∴KR = I ω . (1)
2
The moment of inertia of a system of DISCRETE particles

2
I = Σi mi ri . (2)
moment of inertia
CE 13.1 An Unusual Baton (for discrete objects)
(a) If the system rotates about the

y -axis as in Figure with an angular
speed ν, find the moment of inertia and
the rotational kinetic energy of the sys-
tem about this axis.
2 1 2
Hint: Use Iy = Σi mi ri and KR = Iy ω .
2
moment of inertia
CE 13.1 An Unusual Baton (for discrete objects)
(a) If the system rotates about the

y -axis as in Figure with an angular
speed ν, find the moment of inertia and
the rotational kinetic energy of the sys-
tem about this axis.
2 1 2
Hint: Use Iy = Σi mi ri and KR = Iy ω .
2
(b) Suppose the system rotates in the

xy -plane about an axis (the z-axis)
through the center of the baton.
Calculate the moment of inertia and
rotational kinetic energy about this
axis.
2 1 2
Hint: Use Iz = Σi mi ri and KR = Iz ω .
2
moment of inertia
Sol 13.1 (a) For the rotated bodies about the y -axis, moment of inertia and rotational kinetic energy of rigid
body, respectively:
2 2 2 2
Iy = Σi mi ri = Ma + Ma = 2Ma ,
1 2 1 2 2 2 2
KR = Iy ω = (2Ma )ω = Ma ω .
2 2
moment of inertia
Sol 13.1 (a) For the rotated bodies about the y -axis, moment of inertia and rotational kinetic energy of rigid
body, respectively:
2 2 2 2
Iy = Σi mi ri = Ma + Ma = 2Ma ,
1 2 1 2 2 2 2
KR = Iy ω = (2Ma )ω = Ma ω .
2 2
Sol 13.1 (b) For the rotated bodies about the z-axis, moment of inertia and rotational kinetic energy of rigid
body, respectively:
2 2 2 2 2 2 2
Iz = Σi mi ri = Ma + Ma + mb + mb = 2(Ma + mb ) ,
1 2 1 2 2 2 2 2 2
KR = Iz ω = (2Ma + 2mb )ω = (Ma + mb )ω .
2 2
moment of inertia
CE 13.2 Moments of inertia for different rotation axes (for discrete objects)
A machine part consists of three small
disks linked by lightweight struts.
(a) What is this body’s moment of in-
ertia about axis 1 through the center
of disk A, perpendicular to the plane of
the diagram?
2
Hint: Use IAxis1 = Σi mi ri .
(b) What is its moment of inertia
about axis 2 through the centers of
disks B and C ?
2
Hint: Use IAxis2 = Σi mi ri .
(c) What is the body’s kinetic energy
if it rotates about axis 1 with angular
speed ω = 4.0rad /s?
1 2
Hint: Use KAxis1 = IAxis1ω .
2
moment of inertia
Sol 13.2 (a) The particle at point A lies on axis 1 through A, so its distance r from the axis is zero and it
contributes nothing to the moment of inertia. Hence only B and C contribute:
2 2 2 2 2
IAxis1 = Σmi ri = mB rB + mC rC = (0.10kg )(0.50m) + (0.20kg )(0.40m) ,
2
∴I1 = 0.057kg m .
moment of inertia
2 2 2 2 2
2
∴I1 = 0.057kg m .
Sol 13.2 (b) The particles at B and C both lie on axis 2, so neither particle contributes to the moment of
inertia. Hence only A contributes
2 2 2
IAxis2 = Σmi ri = mArA = (0.30kg )(0.40m) ,
2
∴I1 = 0.048kg m .
moment of inertia
2 2 2 2 2
2
∴I1 = 0.057kg m .
Sol 13.2 (b) The particles at B and C both lie on axis 2, so neither particle contributes to the moment of
inertia. Hence only A contributes
2 2 2
IAxis2 = Σmi ri = mArA = (0.30kg )(0.40m) ,
2
∴I1 = 0.048kg m .
Sol 13.2 (c)

1 2 2 2
KAxis1 = IAxis1ω = (0.057kg m )(4.0rad /s) ,
2
∴KAxis1 = 0.46J .
moment of inertia
The moment of inertia of a system of CONTINUOUS particles

2 2
I = lim Σi ri ∆mi = ∫ r dm . (3)
∆mi →0
moment of inertia

2 2
∆mi →0
If we take the volume mass density, ρ = m/V : dm = ρ dV in (3), we get

2
I ≡ ∫ r ρ dV .
moment of inertia

2 2
∆mi →0

2
I ≡ ∫ r ρ dV .
If we take the surface mass density, σ = m/a: dm = σ da in (3), we get

2
I ≡ ∫ r σ da .
moment of inertia

2 2
∆mi →0

2
I ≡ ∫ r ρ dV .
If we take the surface mass density, σ = m/a: dm = σ da in (3), we get

2
I ≡ ∫ r σ da .
If we take the length (linear) mass density, λ = m/L: dm = λ dL in (3), we get

2
I ≡ ∫ r λ dL .
moment of inertia
CE 13.3 Uniform Rigid Rod (for continuous objects)
Calculate the moment of inertia of a
uniform thin rod of length L and mass
M about an axis perpendicular to the
rod (the y -axis) and passing through
its center of mass.
M 2
Hint: Use dm = λdx = dx in Iy = ∫ r dm
L
2 2 L
by taking r = x . Integrate from − to
2
L
.
2 L
2 2
You take Iy = ∫ r dm or you can take
− L2
L
2 0
2
Iy = 2 ∫ r dm or you can take Iy = 2 ∫
0 − L2
2
r dm. They will give you exactly the
same results!!!
moment of inertia
CE 13.3 Uniform Rigid Rod (for continuous objects)
Calculate the moment of inertia of a
uniform thin rod of length L and mass
M about an axis perpendicular to the
rod (the y -axis) and passing through
its center of mass.
M 2
Hint: Use dm = λdx = dx in Iy = ∫ r dm
L
2 2 L
by taking r = x . Integrate from − to
2
L
.
2 L
2 2
You take Iy = ∫ r dm or you can take
− L2
L
2 0
2
Iy = 2 ∫ r dm or you can take Iy = 2 ∫
0 − L2
2
r dm. They will give you exactly the
same results!!!
Sol 13.3
3 »»L/2
L/2 L/2
M M L/2
M x »»
2
Iy = ∫ r dm = ∫
2
x λdx = ∫ x
2
dx = ∫
2
x dx = »» ,
L L L 3 »
»
r 2 =x 2 dm=λdx −L/2 M
λ= L −L/2 −L/2 »»−L/2
1 2
∴Iy = ML .
12
moment of inertia
CE 13.4 Uniform Solid Cylinder (for continuous objects)
A uniform solid cylinder has a radius R,

mass M, and length L. Calculate its mo-
ment of inertia about its central axis.
Hint: Use dm = ρdV = ρL(2πr )dr in Iz =
2 M M
∫ r dm with ρ = = . Integrate
V πR 2L
from 0 to R.
moment of inertia
CE 13.4 Uniform Solid Cylinder (for continuous objects)
A uniform solid cylinder has a radius R,

mass M, and length L. Calculate its mo-
ment of inertia about its central axis.
2 M M
V πR 2L
from 0 to R.
Sol 13.4
4 »»R
R R
r »» 1 1 M
2
Iz = ∫ r dm =
2 3
∫ r ρL(2πr )dr = 2πρL ∫ r dr = 2πρL »» = πρLR 4 =
4
π 2 LR ,
dm=ρL(2πr )dr 0 0 4 »»» 2 ρ= M M 2 πR L
»0 V= 2 πR L
1 2
∴Iz = MR .
2
moment of inertia
CE 13.5 Hollow or solid cylinder, rotating about axis of symmetry (for continuous objects)
A hollow cylinder of uniform mass den-

sity ρ with length L, inner radius R1, and
outer radius R2. Using integration, find
its moment of inertia about its axis of
symmetry.
2 M M
V πR 2L
from r = R1 to r = R2.
moment of inertia
CE 13.5 Hollow or solid cylinder, rotating about axis of symmetry (for continuous objects)
A hollow cylinder of uniform mass den-

sity ρ with length L, inner radius R1, and
outer radius R2. Using integration, find
its moment of inertia about its axis of
symmetry.
2 M M
V πR 2L
from r = R1 to r = R2.
Sol 13.5
R2 R2
2 2 3 1 4 4 1 2 2 2 2
Iz = ∫ r dm = ∫ r ρL(2πr )dr = 2πρL ∫ r dr = πρL(R2 − R1 ) = πρL(R2 − R1 )(R2 + R1 ) ,
dm=ρL(2πr )dr R1 R1 2 2
1 2 2 2 2
∴Iz = πρL(R2 − R1 )(R2 + R1 ) .
2
M M
Here if we take ρ = = ,
V πL(R22 − R12)
1 2 2
Iz = M(R1 + R2 ) ,
2
in this last expression,
1 2
if we take R1 = 0 and R2 = R, we get Iz = MR (see Sol 13.4),
2
2
if boran
¹ sibel we take R1 ≈ R2 = R, we get Iz = MR . PART-1 Mechanics Lecture 13 Rolling and Moment January 7, 2024 11 / 54
moment of inertia
CE 13.6 Uniform sphere with radius R, axis through center (for continuous objects)
Find the moment of inertia of a solid
sphere of uniform mass density ρ (like
a billiard ball) about an axis through
its center.
2
Hint: Use dm = ρdV where dV = πr dx =
2 2 2 2
π(R −x )dx. Then, use dm = ρπ(R −x )dx
R
2
in I = ∫ r dm. Integrate from r = 0 to
0
r = R. This gives the moment of inertia,
I , of the right hemisphere.
The total of I for the entire sphere, in-
cluding both hemispheres, is just twice
R
2
this: I = 2 ∫ r dm .
0
ÍÒÒ Ò Ò Ò Ò Ò Ò Ò Ò Ò ÑÒÒ Ò Ò Ò Ò Ò Ò Ò Ò Ò ÒÏ
infinitesimal I of a disk∶dIdisk
1 2 √
dIdisk = r dm where r = R 2 − x 2 and
2
2 2
dm = ρπ(R − x )dx.
moment of inertia
Sol 13.6
R R R
1 2 2 2 2
Iz = 2 ∫ dIdisk = 2∫ r dm = ∫ πρ(R − x ) dx ,
0 0 2 0
8 5
∴Iz = πρR .
15
M M
Here ρ = = 4 . Then,
V πR 3
3
8 M 5
Iz = π (4 ) R ,
15 R3
3
2 2
∴Iz = MR .
5
moment of inertia
Moments of Inertia of Homogeneous Rigid Objects with
Different Geometries
The relationship between the moment of inertia

of a body about an axis through its center of
mass AND the moment of inertia about any
other axis parallel to the original axis is given
by the parallel-axis theorem:

CE 13.7 Using the parallel-axis theorem

A part of a mechanical linkage has a mass of 3.6 kg . Its moment of inertia Ip about an axis 0.15 m from its
2
center of mass is Ip = 0.132 kg m . What is the moment of inertia, ICM , about a parallel axis through the center
of mass?
2
Hint: Use ICM = Ip − Md .

CE 13.7 Using the parallel-axis theorem

A part of a mechanical linkage has a mass of 3.6 kg . Its moment of inertia Ip about an axis 0.15 m from its
2
center of mass is Ip = 0.132 kg m . What is the moment of inertia, ICM , about a parallel axis through the center
of mass?
2
Hint: Use ICM = Ip − Md .
Sol 13.7 Let us calculate ICM from a measurement of Ip .
2
ICM = Ip − Md ,
2 2
ICM = (0.132 kg m ) − (3.6 kg )(0.15 m) ,
2
¹ sibel boran
∴ICM = 0.051 kg m . PART-1 Mechanics Lecture 13 Rolling and Moment January 7, 2024 15 / 54
13.3 Torque
Definition of TORQUE
The quantitative measure of the tendency of a
force to cause OR change an object’s rotational
motion is called torque.
Torque is one of the dynamics of rotational mo-
tion.
F⃗a applies a torque about point O to the
wrench;
F⃗b applies a grater torque about O;
F⃗c applies zero torque about O.
13.3 Torque
tion.
wrench;
If a force of magnitude, F , has a line of action that is a perpendicular distance, l , from O, the torque is:
τ =F l ,
torque is always measured about a point.
13.3 Torque
tion.
wrench;
If a force of magnitude, F , has a line of action that is a perpendicular distance, l , from O, the torque is:
τ =F l ,
torque is always measured about a point.
13.3 Torque
There are three ways to calculate the torque of
F⃗ :
1. Find the lever arm l and use τ = Fl.
2. Determine the angle φ between the vectors r⃗ and
F⃗ ; the lever arm is r Sin(φ), so τ = rF Sinφ.
3. Represent F⃗ in terms of a radial component F⃗rad
along the direction of r⃗ and a tangential
component F⃗tan at right angles, perpendicular to
r⃗. Then F⃗tan = F Sin(φ) and
τ = r (F Sin(φ)) = r Ftan . The component Frad
produces NO torque with respect to O because
its lever arm with respect to that point is zero.
13.3 Torque
There are three ways to calculate the torque of
F⃗ :
1. Find the lever arm l and use τ = Fl.
2. Determine the angle φ between the vectors r⃗ and
F⃗ ; the lever arm is r Sin(φ), so τ = rF Sinφ.
3. Represent F⃗ in terms of a radial component F⃗rad
along the direction of r⃗ and a tangential
component F⃗tan at right angles, perpendicular to
r⃗. Then F⃗tan = F Sin(φ) and
τ = r (F Sin(φ)) = r Ftan . The component Frad
produces NO torque with respect to O because
its lever arm with respect to that point is zero.
13.3 Torque
CE 13.8 The Net Torque on a Cylinder

A one-piece cylinder is shaped as shown in this
Figure, with a core section protruding from the
larger drum. The cylinder is free to rotate about
the central z-axis shown in the drawing. A rope
wrapped around the drum, which has radius R1,
exerts a force T⃗1 to the right on the cylinder.
A rope wrapped around the core, which has ra-
dius R2, exerts a force T⃗2 downward on the
cylinder.
(a) What is the net torque acting on the cylin-
der about the rotation axis (which is the z axis)
in this Figure?
Hint: Use Στi = Σi Ri Ti
(b) Suppose T1 = 5.0N, R1 = 1.0m, T2 =
15N, and R2 = 0.50m. What is the net torque
about the rotation axis, and which way does the
cylinder rotate starting from rest?
13.3 Torque
Recall the figure
13.3 Torque
Recall the figure
Sol 13.8 (a)

Σi τi = Σi Ri Ti ,
ÍÒÒ Ò ÑÒÒ Ò Ï
τ1 +τ2
∴Στ = −R1 T1 + R2 T2 .
13.3 Torque
Recall the figure
Sol 13.8 (a)

τ1 +τ2
∴Στ = −R1 T1 + R2 T2 .
Sol 13.8 (b) Put the numerical values T1 = 5.0N, R1 = 1.0m, T2 = 15N, and R2 = 0.50m into the sum:
τ1 +τ2
= −R1 T1 + R2 T2 ,
= −(1.0m)(5.0N) + (0.50m)(15N) ,
∴Στ = 2.5 N m .
13.3.1 Torque as a vector
The torque vector τ⃗ = r⃗ × F⃗ is directed along

the axis of the bolt, perpendicular to both r⃗
and F⃗ . The fingers of the right hand curl in the
direction of the rotation that the torque tends
to cause.
The torque vector τ⃗ = r⃗ × F⃗ is directed along

the axis of the bolt, perpendicular to both r⃗
and F⃗ . The fingers of the right hand curl in the
direction of the rotation that the torque tends
to cause.
Recall! Vector (cross) product of two vectors

Let us consider any two vectors A⃗ and B,
⃗
A⃗ × B⃗ = ∣A∣
⃗ ∣B∣
⃗ Sin(θ) = A B Sin(θ)

Let us consider any two vectors A⃗ and B, ⃗
A⃗ × B⃗ = ∣A∣⃗ ∣B∣⃗ Sin(θ) = A B Sin(θ)
Vector (or cross) product of unit vectors: iˆ × iˆ = jˆ × jˆ = k̂ × k̂ = 0,
iˆ × jˆ = −jˆ × iˆ = k̂, jˆ × k̂ = −k̂ × jˆ = i,
ˆ k̂ × iˆ = −iˆ × k̂ = j.
ˆ

Let us consider any two vectors A⃗ and B, ⃗
A⃗ × B⃗ = ∣A∣⃗ ∣B∣⃗ Sin(θ) = A B Sin(θ)
Vector (or cross) product of unit vectors: iˆ × iˆ = jˆ × jˆ = k̂ × k̂ = 0,
iˆ × jˆ = −jˆ × iˆ = k̂, jˆ × k̂ = −k̂ × jˆ = i,
ˆ k̂ × iˆ = −iˆ × k̂ = j.
ˆ
Let us remember! Right Hand Rule (RHR) for the vector product of two vectors, A⃗ × B⃗ and
B⃗ × A⃗ = −A⃗ × B: ⃗

The only purpose of the using of unit vec-
tor is to point - that is, to describe a di-
rection in space. The symbols i, ˆ j,
ˆ and k̂
are used to represent unit vectors pointing in
positive x, y , and z directions, respectively.
ˆ j,
i, ˆ and k̂ are the form of a set of mutually
perpendicular (⊥) to each other.
The magnitude of each unit vectors equals 1;
that is, ∣i∣
ˆ = ∣j∣
ˆ = ∣k̂∣ = 1.

The only purpose of the using of unit vec-
tor is to point - that is, to describe a di-
rection in space. The symbols i, ˆ j,
ˆ and k̂
are used to represent unit vectors pointing in
positive x, y , and z directions, respectively.
ˆ j,
i, ˆ and k̂ are the form of a set of mutually
perpendicular (⊥) to each other.
The magnitude of each unit vectors equals 1;
that is, ∣i∣
ˆ = ∣j∣
ˆ = ∣k̂∣ = 1.
Let us take any two vectors in three dimensions as follows:
A⃗ = Ax iˆ + Ay jˆ + Az k̂ and B⃗ = Bx iˆ + By jˆ + Bz k̂ ,
their VECTOR (or CROSS ×) product is found in terms of their components (unit vector
notation):
A⃗ × B⃗ = (Ay Bz − Az By ) iˆ + (Az Bx − Ax Bz ) jˆ + (Ax By − Ay Bx ) k̂ .
CE 13.9 Recall! Vector (cross ×) product of two vectors
Let be any two vectors
A⃗ = 2 iˆ + 3 jˆ and B⃗ = − iˆ + 2 jˆ .
Find A⃗ × B⃗ and verify A⃗ × B⃗ = −B⃗ × A.
⃗
A⃗ = 2 iˆ + 3 jˆ and B⃗ = − iˆ + 2 jˆ .
Find A⃗ × B⃗ and verify A⃗ × B⃗ = −B⃗ × A. ⃗
Sol 13.9
A⃗ × B⃗ = (2 iˆ + 3 j) ˆ × (− iˆ + 2 j) ˆ ,
A⃗ × B⃗ = (2 iˆ × −1 i) ˆ + (2 iˆ × 2 j) ˆ + (3 jˆ × −1 i) ˆ + (3 jˆ × 2 j) ˆ ,
A⃗ × B⃗ = (−2 iˆ × iˆ) + (4 iˆ × jˆ) + (−3 jˆ × iˆ) + (6 jˆ × jˆ) ,
ÍÒÒ Ò Ñ Ò Ò Ò Ï ÍÒÒ Ò ÑÒÒ Ò ÒÏ ÍÒÒ Ò ÑÒÒ Ò ÒÏ ÍÒÒ Ò ÒÑÒ Ò Ò Ï
0 0
k̂ −k̂
A⃗ × B⃗ = −2(0) + 4(k̂) − 3(−k̂) + 6(0) ,
∴ A⃗ × B⃗ = 7k̂ .
A⃗ = 2 iˆ + 3 jˆ and B⃗ = − iˆ + 2 jˆ .
Find A⃗ × B⃗ and verify A⃗ × B⃗ = −B⃗ × A. ⃗
Sol 13.9
A⃗ × B⃗ = (2 iˆ + 3 j) ˆ × (− iˆ + 2 j) ˆ ,
A⃗ × B⃗ = (2 iˆ × −1 i) ˆ + (2 iˆ × 2 j) ˆ + (3 jˆ × −1 i) ˆ + (3 jˆ × 2 j) ˆ ,
A⃗ × B⃗ = (−2 iˆ × iˆ) + (4 iˆ × jˆ) + (−3 jˆ × iˆ) + (6 jˆ × jˆ) ,
0 0
k̂ −k̂
A⃗ × B⃗ = −2(0) + 4(k̂) − 3(−k̂) + 6(0) ,
∴ A⃗ × B⃗ = 7k̂ .
and
B⃗ × A⃗ = (− iˆ + 2 j) ˆ × (2 iˆ + 3 j) ˆ ,
B⃗ × A⃗ = (−1 iˆ × 2 i) ˆ + (−1 iˆ × 3 j) ˆ + (2 jˆ × 2 i) ˆ + (2 jˆ × 3 j) ˆ ,
B⃗ × A⃗ = (−2 iˆ × iˆ) + (−3 iˆ × jˆ) + (4 jˆ × iˆ) + (6 jˆ × jˆ) ,
0 0
k̂ −k̂
B⃗ × A⃗ = −2(0) − 3(k̂) + 4(−k̂) + 6(0) ,
∴ B⃗ × A⃗ = −7k̂ .
Finally,
¹ sibel boran ∴ A⃗ × B⃗ = −B⃗ × A⃗ . PART-1 Mechanics Lecture 13 Rolling and Moment January 7, 2024 23 / 54
CE 13.10 The Torque Vector

A force of F⃗ = (2.00iˆ + 3.00j)N
ˆ is applied to rigid object that is pivoted about a fixed axis
aligned along the z-coordinate axis. The force is applied at a point located at
r⃗ = (4.00iˆ + 5.00j)m
ˆ relative to the axis. Find the torque τ⃗ applied to the object.
CE 13.10 The Torque Vector

A force of F⃗ = (2.00iˆ + 3.00j)N
ˆ is applied to rigid object that is pivoted about a fixed axis
aligned along the z-coordinate axis. The force is applied at a point located at
r⃗ = (4.00iˆ + 5.00j)m
ˆ relative to the axis. Find the torque τ⃗ applied to the object.
Sol 13.10
τ⃗ = r⃗ × F⃗ ,
τ⃗ = [(4.00iˆ + 5.00j)m] ˆ × [(2.00iˆ + 3.00j)N] ˆ ,
τ⃗ = [8.00 (iˆ × i) ˆ + 12.00 (iˆ × j) ˆ + 10.00 (jˆ × i) ˆ + 15.00 (jˆ × j) ˆ ]Nm ,
ÍÒÒ Ò Ò Ò Ò ÑÒ Ò Ò Ò Ò Ò Ï ÍÒÒ Ò Ò Ò Ò ÑÒ Ò Ò Ò Ò Ò Ï ÍÒÒ Ò Ò Ò Ò ÑÒ Ò Ò Ò Ò Ò Ï ÍÒÒ Ò Ò Ò Ò Ñ Ò Ò Ò Ò Ò ÒÏ
0 k̂ −k̂ 0
τ⃗ = [12.00k̂ + 10.00(−k̂)]Nm ,
∴⃗τ = 2.00k̂ Nm .
To loosen a pipe fitting, a plumber slips a piece of scrap pipe (a “cheater”) over his wrench handle. He stands on
the end of the cheater, applying his 900N weight at a point 0.80m from the center of the fitting (Figure (a) ).
o
The wrench handle and cheater make an angle of 19 with the horizontal. Find the magnitude and direction of
the torque he applies about the center of the fitting.
Hint: τ⃗ = r⃗ × F⃗ .
To loosen a pipe fitting, a plumber slips a piece of scrap pipe (a “cheater”) over his wrench handle. He stands on
the end of the cheater, applying his 900N weight at a point 0.80m from the center of the fitting (Figure (a) ).
o
The wrench handle and cheater make an angle of 19 with the horizontal. Find the magnitude and direction of
the torque he applies about the center of the fitting.
Hint: τ⃗ = r⃗ × F⃗ .
Sol 13.11 We will use
τ⃗ = r⃗ × F⃗ ,
where l is the level arm. We will first calculate this:

o
l = r Sin(φ) = (0.80m) Sin(109 ) = 0.76m ,
then, first way:
τ = F l = (900N)(0.76m) = 680Nm .
OR directly, second way:
τ⃗ = r⃗ × F⃗ ,
where the magnitude of τ⃗ becomes
τ = r F Sin(φ) ,
from the property of cross product.
τ = r F Sin(φ) ,
o
τ = (0.80m) (900N) (Sin(109 )) ,
∴τ = 680Nm .
OR directly, second way:
τ⃗ = r⃗ × F⃗ ,
where the magnitude of τ⃗ becomes
τ = r F Sin(φ) ,
from the property of cross product.
τ = r F Sin(φ) ,
o
τ = (0.80m) (900N) (Sin(109 )) ,
∴τ = 680Nm .
Alternatively, third way:
τ = Ftan r ,
where
o
Ftan = F (Cos(19 )) ,
o
Ftan = (900N) (Cos(19 )) ,
Ftan = 851N ,
then we will find
τ = Ftan r ,
τ = (851N)(0.80m) ,
∴τ = 680Nm .
Please remember Model: Particle under a Net Force (Newton’s second Law of Motion)
Lecture 5 and Lecture 6.
Here, we have learned that a net force on an object causes an acceleration of the object
and that the acceleration is proportional to the net force.
Now, consider a particle of mass m rotating in

a circle of radius r under the influence of a tan-
gential net force ΣF⃗tan and a radial net force
ΣF⃗r as shown in Figure.
o o
Hint: Take Sin(109 ) = Cos(19 ) = 0.945.
Now, consider a particle of mass m rotating in

a circle of radius r under the influence of a tan-
gential net force ΣF⃗tan and a radial net force
ΣF⃗r as shown in Figure.
o o
Hint: Take Sin(109 ) = Cos(19 ) = 0.945.
The tangential force provides a tangential acceleration a⃗tan ,

ΣFtan = m atan .
The magnitude of the net torque due to F⃗tan on the particle about an axis perpendicular to the page through the
center of the circle is
Στ = ΣFtan r = (m atan )r ,
where at = r α. The net torque can be expressed as
2
Στ = (mr α)r = (mr )α ,
ÍÒÒ Ò Ò Ò Ñ Ò Ò Ò Ò Ò Ï
I
2
where I ≡ mr .
∴Στ = I α .
For the external force,
we know from Newton’ s second Law
Fi = mi ai ,
and the external torque τ⃗i associated with the force F⃗i acts about the origin and its magnitude is given by
τi = ri Fi = ri mi ai ,
where ai = ri α, the expression for τi becomes

2
τi = mi ri α .
For the external force,
we know from Newton’ s second Law
Fi = mi ai ,
and the external torque τ⃗i associated with the force F⃗i acts about the origin and its magnitude is given by
τi = ri Fi = ri mi ai ,
where ai = ri α, the expression for τi becomes

2
τi = mi ri α .
We can apply the same process into the external forces:

2 2
Στext = Σi τi = Σi mi ri α = Σi mi ri α ,
ÍÒÒ Ò Ò Ò Ò Ò Ò Ñ Ò Ò Ò Ò Ò Ò Ò Ï
I
∴Στext = I α ,
where
2
I ≡ Σi mi ri ,
in the same time
ΣF⃗ext = M a⃗CM .
CE 13.12 Rotating Rod
A uniform rod of length L and mass M is at-
tached at one end to a frictionless pivot and
is free to rotate about the pivot in the vertical
plane as in Figure. The rod is released from rest
in the horizontal position. What are the initial
angular acceleration of the rod and the ini-
tial translational acceleration of its right
end?
A uniform rod of length L and mass M is at-
tached at one end to a frictionless pivot and
is free to rotate about the pivot in the vertical
plane as in Figure. The rod is released from rest
in the horizontal position. What are the initial
angular acceleration of the rod and the ini-
tial translational acceleration of its right
end?
Sol 13.12 We will categorize the rod as a rigid object under a net torque model
The magnitude of the net external torque due to the gravitational force about an axis through the pivot:
L
Στext = Mg ( ) .
2
To obtain the angular acceleration of the rod, using the moment of inertia for the rod from ”Moments of Inertia
of Homogeneous Rigid Objects with Different Geometries”.
Στext Mg ( 2 )
L
Στext = I α ⇒ α = = 1 ,
I ML 2
3
3g
∴α = .
2L
To find the initial translational acceleration of the right end of the rod, we will use atan = r α, by taking r = L,
3g
atan = Lα = L ,
2L
3
∴atan = g .
2
CE 13.13 Angular Acceleration of a Wheel
A wheel of radius R, mass M, and moment of inertia I

is mounted on a frictionless, horizontal axle as in Fig-
ure. A light cord wrapped around the wheel supports
an object of mass m. When the wheel is released, the
object accelerates downward, the cord unwraps off
the wheel, and the wheel rotates with an angular
acceleration.

acceleration.
(a) Find expressions for the magnitude of the angular acceleration of the wheel, α, magnitude of the the
translational acceleration of the object, a, and the magnitude of the tension force, T , in the cord in terms of g ,
m, R, and I .
Hint:
Step 1.: Find α in terms of T , R and I by using ‘the rigid object under a net torque model’.
Step 2.: Find a in terms of g , m, and T by applying ‘Newton’s second law to the motion of the object model’,
taking the downward direction (of y -axis) to be positive.
Step 3.: Find T in terms of g , m, R, and I . Apply Step 1., (4), into the the right side of a = α R; and apply
Step 2., (5), into the left side of a = α R; and then get T .
Step 4.: Find a in terms of g , m, R, and I by putting Step 3. T into Step 1. a.
Step 5.: Find α in terms of g , m, R, and I by using a = α R where a equals Step 4.

acceleration.
(a) Find expressions for the magnitude of the angular acceleration of the wheel, α, magnitude of the the
translational acceleration of the object, a, and the magnitude of the tension force, T , in the cord in terms of g ,
m, R, and I .
Hint:
Step 1.: Find α in terms of T , R and I by using ‘the rigid object under a net torque model’.
Step 2.: Find a in terms of g , m, and T by applying ‘Newton’s second law to the motion of the object model’,
taking the downward direction (of y -axis) to be positive.
2 2
(b) Find the numerical values of α, a, and T by taking g = 10.0m/s , R = 10m, m = 10kg , and I = 10kg m .
Sol 13.13 (a)
Step 1.: Find α in terms of T , R and I , by using
‘the rigid object under a net torque model’.
Στext = I α ,
Στext
α=
I
TR
α= . (4)
I
Step 2.: Find a in terms of g , m, and T by apply-
ing ‘Newton’s second law to the motion of the object
model’, taking the downward direction (of y -axis) to
be positive.
ΣFy = ma ,
mg +(−T )
mg − T = ma ,
mg − T
a= m . (5)
Sol 13.13 (a)
Στext = I α ,
Στext
α=
I
TR
α= . (4)
I
be positive.
ΣFy = ma ,
mg +(−T )
mg − T = ma ,
mg − T
a= m . (5)
Sol 13.13 (a)
Στext = I α ,
Στext
α=
I
TR
α= . (4)
I
be positive.
ΣFy = ma ,
mg +(−T )
mg − T = ma ,
mg − T
a= m . (5)
mg
a = αR ⇒ ∴T = .
ÍÑÏ ÍÒÒÑÒ Ï 1+( )mR 2
mg −T
m
( TR
I )R I
Sol 13.13 (a)

mg − T
Step 1. ∶ a = m ,
mg − [ ]
mg
2
1+( mR
I )
put T into Step 1. ∶ a = m ,
g
∴a = .
1+ ( mRI 2 )
Sol 13.13 (a)

mg − T
Step 1. ∶ a = m ,
mg − [ ]
mg
2
1+( mR
I )
put T into Step 1. ∶ a = m ,
g
∴a = .
1+ ( mRI 2 )

a
α = ,
R
g
1+( I 2 ) 1 g
( ),
mR
use Step 4. for a ∶ α = =
R R 1 + ( I 2)
mR
g
∴α = .
R+ ( mR
I
)
2 2
Sol 13.13 (b) To get numerically α, a, and T use g = 10.0m/s , R = 10m, m = 10kg , and I = 10kg m .
2 2
For α:
g 10.0 sm2 10.0 sm2 10.0 sm2 10.0 sm2 m 10 1
= (10.0 )( ),
H

H
α = = = = = m
R + ( mR
I
) 10m +
10kg m2
( (10kg )(10m) ) 10 kg m2
10m + ( (100 kg )
1
10m + 10 m 11
10
m s 2 11 HH
)
m
100 rad
∴α = .
11 s 2
2 2
For α:
g 10.0 sm2 10.0 sm2 10.0 sm2 10.0 sm2 m 10 1
= (10.0 )( ),
H

H
α = = = = = m
R + ( mR
I
) 10m +
10kg m2
( (10kg )(10m) ) 10 kg m2
10m + ( (100 kg )
1
10m + 10 m 11
10
m s 2 11 HH
)
m
100 rad
∴α = .
11 s 2
For a:
g 10.0 sm2 10.0 sm2 10.0 sm2 10.0 sm2 10.0 sm2 m 100
a = = = = = = = (10.0 2 ) ( ),
1 + ( mRI 2 ) 10kg m2
1 + ( (10kg )(10m)2 )
10kg m2
1 + 1000kg m2
1
1 + 100 100
100
1
+ 100 101
100
s 101
1000 m
∴a = .
101 s 2
2 2
For α:
g 10.0 sm2 10.0 sm2 10.0 sm2 10.0 sm2 m 10 1
= (10.0 )( ),
H

H
α = = = = = m
R + ( mR
I
) 10m +
10kg m2
( (10kg )(10m) ) 10 kg m2
10m + ( (100 kg )
1
10m + 10 m 11
10
m s 2 11 HH
)
m
100 rad
∴α = .
11 s 2
For a:
g 10.0 sm2 10.0 sm2 10.0 sm2 10.0 sm2 10.0 sm2 m 100
a = = = = = = = (10.0 2 ) ( ),
1 + ( mRI 2 ) 10kg m2
1 + ( (10kg )(10m)2 )
10kg m2
1 + 1000kg m2
1
1 + 100 100
100
1
+ 100 101
100
s 101
1000 m
∴a = .
101 s 2
For T :
(10kg )(10.0 sm2 )
kg m kg m kg m
mg 100 s2
100 s2
100 s2 100 kg m
T = = = = = = ,
mR 2 (10kg )(10m)2 1000kg m2 2 1 + 100 101 s 2
( I ) ( 10kg m2 )
H

1+ 1000
kgH
m
1+ 1+ 10kg m2 1+ HH 2
H
H
10
kgm
HH
100
∴T = N.
101
WORK for rotating rigid body
Let us consider the rigid object pivoted
at O in Figure. Let us suppose a single
external force F⃗ is applied at P, where
F⃗ lies in the plane of the page. The work
done on the object by F⃗ as its point of
application rotates through an infinites-
imal distance ds = r d θ is
dW = F⃗ ⋅ d s⃗ = (F Sin(φ)) r d θ ,
ÍÒÒ Ò Ò Ò Ò Ò Ò Ò Ò Ò Ò Ò ÑÒÒ Ò Ò Ò Ò Ò Ò Ò Ò Ò Ò Ò ÒÏ
Ftan
dW = Ftan r d θ ,
ÍÒÒ Ò Ò Ò ÑÒÒ Ò Ò Ò ÒÏ
τ
dW = τ d θ ,
where we wrote the work done for the
infinitesimal rotation.
WORK for rotating rigid body
Let us consider the rigid object pivoted
at O in Figure. Let us suppose a single
external force F⃗ is applied at P, where
F⃗ lies in the plane of the page. The work
done on the object by F⃗ as its point of
application rotates through an infinites-
imal distance ds = r d θ is
dW = F⃗ ⋅ d s⃗ = (F Sin(φ)) r d θ ,
ÍÒÒ Ò Ò Ò Ò Ò Ò Ò Ò Ò Ò Ò ÑÒÒ Ò Ò Ò Ò Ò Ò Ò Ò Ò Ò Ò ÒÏ
Ftan
dW = Ftan r d θ ,
ÍÒÒ Ò Ò Ò ÑÒÒ Ò Ò Ò ÒÏ
τ
dW = τ d θ ,
where we wrote the work done for the
infinitesimal rotation.
As below, we can consider that a tangential force applied to a rotating body does work
¹ sibel boran
On the right side of figure: overhead view of merry-go-round.
PART-1 Mechanics Lecture 13 Rolling and Moment January 7, 2024 34 / 54
WORK-KINETIC ENERGY THEOREM for rotating rigid body
As the disk rotates from θ1 to θ2, the total work done by the torque is:
We then transform the integrand into an integrand with respect to ωz as follows:
From the last expression, we can get the total work done on the rotating rigid body (or
work-kinetic energy theorem for rotational motion):
From the last expression, we can get the total work done on the rotating rigid body (or
work-kinetic energy theorem for rotational motion):
In addition to the work–kinetic energy theorem, other energy principles can also be applied to
rotational situations. For example; if a system involving rotating objects is isolated and no
nonconservative forces act within the system, the isolated system model and the principle of
conservation of mechanical energy can be used to analyze the system
∆E = ∆K + ∆U .

A uniform rod of length L and mass M is
free to rotate on a frictionless pin pass-
ing through one end Figure. The rod is
released from rest in the horizontal po-
sition.
(a) What is its angular speed when the
rod reaches its lowest position?
Hint: Use the isolated system (energy)
1 2
model. Take ICM = ML for the homo-
3
geneous and uniform rod (rigid body).
(b) Determine the tangential speed of
the center of mass and the tangential
speed of the lowest point on the rod
when it is in the vertical position.
Hint: Use νCM = r ω and the result of
part (b).
Sol 13.14 (a) For the rotating object:
∆K + ∆U = 0 ,
(KRf − KRi ) + (Uf − Ui ) = 0 ,
1 2 1
( I ω − 0) + (0 − MgL) = 0 ,
2 √ 2
MgL
ω= ,
I
1 2
where we will use ICM = ML ,
3
√ √
MgL √ MgL
ω= =√
√
⎷
√ 1
,
I ML 2
√ 3
3g
∴ω = .
L
Sol 13.14 (a) For the rotating object:
∆K + ∆U = 0 ,
(KRf − KRi ) + (Uf − Ui ) = 0 ,
1 2 1
( I ω − 0) + (0 − MgL) = 0 ,
2 √ 2
MgL
ω= ,
I
1 2
where we will use ICM = ML ,
3
√ √
MgL √ MgL
ω= =√
√
⎷
√ 1
,
I ML 2
√ 3
3g
∴ω = .
L
Sol 13.14 (b)

L 1√
νCM = rω = ω =√ 3gL .
r=L 2
2 ω=
3g 2
L
Because r for the lowest point on the rod, we will get the twice of the obtained value:
√
∴ν = 2νCM = 3gL .
INSTANTANEOUS POWER for rotating rigid body
We can get the instantaneous power, P, for the rotating rigid object from the change of the
work in the time interval dt:
d d
W = τ θ,
dt dt
ÍÒÒ Ò Ò Ò Ñ Ò Ò Ò Ò Ï ÍÒÒ ÑÒÒ Ï
P ω
∴P = τ ω ,
dW
where let us remember that the definition of the instantaneous power P ≡ .
dt
CE 13.15 Calculating power from torque
An electric motor exerts a constant 10 N m torque on a grindstone, which has a moment of a
2
inertia of 2.0 kg m about its shaft. The system starts from the rest.
Find the work, W , done by the motor in 8.0 s and the grindstone’s kinetic energy K at this
time . What average power Pavg is delivered by the motor?
W
Hint: Use Pavg ≡ .
∆t
CE 13.15 Calculating power from torque
An electric motor exerts a constant 10 N m torque on a grindstone, which has a moment of a
2
inertia of 2.0 kg m about its shaft. The system starts from the rest.
Find the work, W , done by the motor in 8.0 s and the grindstone’s kinetic energy K at this
time . What average power Pavg is delivered by the motor?
W
Hint: Use Pavg ≡ .
∆t
2
Sol 13.15 We have Στz = 10 Nm, I = 2.0 kg m . Then,
Στz = ICMz αz ,
2 2
10 Nm = (2.0 kg m ) αz ⇒ αz = 5.0 rad /s .
From here,
1 2 1 2 2
∆θ = αz t = (5.0rad /s )(8.0s) ⇒ ∆θ = 160rad .
2 2
W = τz ∆θ = (10 Nm)(160rad ) ⇒ ∴W = 1600J .
Then;
ωz = αz t = (5.0rad /s )(8.0s) ⇒ ωz = 40rad /s .
−2
1 2 1 2 2
K = I ωz = (2.0 kg m )(40rad /s) ⇒ ∴K = 1600J .
2 2
The average power is the work done divided by the time interval:
W 1600J
Pavg ≡ = ,
∆t 8.0s
∴Pavg = 200J/s = 200W .
The motion of a rigid object rolling along a flat surface.
For example, let us suppose a cylinder is rolling on a straight path such that the axis of rotation
remains parallel to its initial orientation in space.
The center of mass moves in translational motion in a straight line.

If an object such as a cylinder rolls

without slipping on the surface
(called pure rolling motion), a sim-
ple relationship exists between its rota-
tional and translational motions.

If an object such as a cylinder rolls

without slipping on the surface
(called pure rolling motion), a sim-
ple relationship exists between its rota-
tional and translational motions.

ds dθ
νCM = =R =R ω,
dt dt
dνCM dω
aCM = =R =R α.
dt dt
13.6.1 Combined Translation and Rotation: Energy Relationship
without slipping
The motion of a rolling wheel is the sum of the translational motion of the
center of mass and the rotational motion of the wheel around the center of
mass.
Here for the combined motion:

1 2 1 2
K ≡ KR + KT = ICM ω + MνCM ,
2 2
U = MgyCM .
without slipping
CE 13.16 Calculating the speed of a primitive yo-yo.

A primitive yo-yo has a massless string
wrapped around a solid cylinder with mass M
and radius R as in Figure. You hold the free
end of the string stationary and release the
cylinder from rest. The string unwinds but
does not slip or stretch as the cylinder de-
scends and rotates.
Using energy considerations, find the speed
νCM of the cylinder’s center of mass after it
has descended a distance h.
Hint: Use conservation of mechanical en-
ergy.
without slipping
Sol 13.16
Point 1: Initial position and Point 2: Final po-
sition.
At Point 1: K1 = 0,
At Point 2:
K2 = KR + KT ,
1 2 1 2
K2 = ICM ω + MνCM ,
2 2
1 1 2 νCM 2 1 2
K2 = ( MR )( ) + MνCM ,
2 2 R 2
3 2
K2 = MνCM .
4
without slipping
Sol 13.16
Point 1: Initial position and Point 2: Final po-
sition.
At Point 1: K1 = 0,
At Point 2:
K2 = KR + KT ,
1 2 1 2
K2 = ICM ω + MνCM ,
2 2
1 1 2 νCM 2 1 2
K2 = ( MR )( ) + MνCM ,
2 2 R 2
3 2
K2 = MνCM .
4
Then,
∆E = 0 ,
K1 + U1 = K2 + U2 ,
3 2
0 + Mgh = MνCM + 0 ,
√4
4
∴νCM = gh .
3
13.6.2 Combined Translation and Rotation: Dynamics without
slipping
Analyze the combined translational and rotational motions of a rigid body
from the standpoint of dynamics.
slipping
For an extended object, the acceleration of the center of mass is the same
as that of a particle of the same mass acted on by all the external forces on
the actual object:
For the translation of the center of mass:
slipping
For an extended object, the acceleration of the center of mass is the same
as that of a particle of the same mass acted on by all the external forces on
the actual object:
For the translation of the center of mass:
The rotational motion about the center of mass is described by the

rotational analog of Newton’s second law:
For rotation about an axis through the center of mass:
This last equation is valid even when the axis of rotation moves provided
the following two conditions are met:
1. The axis through the center of mass must be an axis of symmetry.
2. The axis must not change direction.
slipping
CE 13.17 Calculating the acceleration of a primitive yo-yo.

A primitive yo-yo has a massless string
wrapped around a solid cylinder with mass M
and radius R as in Figure. You hold the free
end of the string stationary and release the
cylinder from rest. The string unwinds but
does not slip or stretch as the cylinder de-
scends and rotates.
Using dynamics for the rotational motion,
find the downward acceleration of the cylin-
der and the tension in the string
Hint: Use dynamics for the rotational mo-
1 2
tion. Take ICM = MR . For simplicity, draw
2
its free body diagram.
slipping
Sol 13.17
For dynamics:
From Newton’s second law (or rigid body un-
der a net force model):
ΣFy = M aCMy ,
Mg +(−T )
Free body diagram:
Mg − T = M aCMy ,
Mg − T = M (Rαz ) . (6)
From the rigid body under a net torque
model:
Στz = ICM αz ,
ÍÒÒ Ñ Ò Ò Ï
TR
TR = ICM αz ,
1 2
TR = ( MR ) αz . (7)
2
Let us solve (6) and (7) simultaneously
2 1
∴aCMy = g and ∴T = Mg ,
3 3
where we used a = α R.
slipping
CE 13.18 Calculating the acceleration of a rolling sphere

A bowling ball rolling down a A bowling ball of mass M rolls without slip-
ramp ping down a ramp that is inclined at an angle
β to the horizontal as given in Figure.
What are the ball’s acceleration and the mag-
nitude of the friction force on the ball? Treat
the ball as a uniform solid sphere, ignoring
the finger holes.
Hint: Use dynamics for the rotational mo-
2 2
tion. Take ICM = MR . For simplicity, draw
5
its free body diagram.
slipping
Sol 13.18
For dynamics:
From Newton’s second law (or rigid body un-
der a net force model):
ΣFx = M aCMy ,
Mg Sin(β)+(−f )
Free body diagram:
Mg Sin(β) − f = M aCMy ,
Mg Sin(β) − f = M (Rαz ) . (8)
From the rigid body under a net torque
model:
Στz = ICM αz ,
ÍÒÒ Ñ Ò Ò Ï
fR
fR = ICM αz ,
2 2
fR = ( MR ) αz . (9)
5
Let us solve (8) and (9) simultaneously
5 2
∴aCMy = g Sin(β) and ∴f = Mg Sin(β) ,
7 7
where we used a = α R.
Rolling down
CE 13.19 Calculating the acceleration of a rolling sphere

A cylindrically symmetric spool of mass m and
radius R sits at rest on a horizontal table with
friction as in Figure. With your hand on a
light string wrapped around the axle of ra-
dius r , you pull on the spool with a constant
horizontal force of magnitude T to the right.
As a result, the spool rolls without slipping
a distance L along the table with no rolling
friction.
(a) Find the final translational speed of the
center of mass of the spool.
(b) Find the value of the friction force f .
Sol 13.19 (a) Let us the appropriate reduction of the conservation of energy equation:
W = ∆K = ∆KT + ∆KR , (10)

L
W is the work done on the string by your hand: s ≡ ` = r θ = r .
R
The magnitude of the displacement of the point of application of the force applied by your hand becomes
r
` + L = L(1 + ).
R r
Let us use L(1 + ) in the definition of work (W = F⃗ ⋅ d⃗). Evaluate the work done by your hand on the string:
R
r
W = T L(1 + ) , (11)
R
Substitute Equation (11) into Equation (10):
r 1 2 1 2
TL(1 + ) = m νCM + I ω ,
R 2 2
where I is the moment of inertia of the spool about its center of mass and νCM and ν are the final values after the
wheel rolls through the distance L.
νCM
Apply the NONSLIP rolling condition: ω = :
R
r 1 2 1 νCM 2
TL(1 + ) = m νCM + I ( ) ,
R√ 2 2 R
√
√ 2TL(1 + r
)
√
√ R
∴νCM =⎷√
√ m(1 + I ) .
mR 2
Sol 13.19 (b) Because the friction force does no work, we cannot evaluate it from an energy approach.
We model the spool as a nonisolated system, but this time in terms of momentum!
The string applies a force across the boundary of the system, resulting in an impulse on the system.
Because the forces on the spool are constant, we can model the spool’s center of mass as a particle under constant
acceleration.
Let us write the impulse–momentum theorem (∆p⃗ = I⃗ where p = m ν andI = ΣF ∆t) for the spool:
m(νCM − 0) = (T − f )∆t ,
mνCM = (T − f )∆t . (12)
Let us remember that the average velocity of the center of mass is half the final velocity.
L 2L
∆t = ν =ν . (13)
CMavg CM
Then, to find the time interval for the center of mass of the spool to move a distance L from rest to a final speed,
νCM : Let us substitute Equation (13) into (12)
2L
mνCM = (T − f ) ν ,
CM
2
mνCM
∴f = T − .
2L
Let us put νCM to the last expression:
I − mrR
∴f = T [ 2
].
I + mR
13.7 SUMMARY
TRANSLATIONAL Motion and ROTATIONAL Motion
TRANSLATIONAL Motion ROTATIONAL Motion

Translational displacement (in one-dimension): ∆x ≡ xf − xi Angular displacement: ∆θ ≡ θf − θi
dx dθ
Translational speed: ν = Angular speed: ω =
dt dt
dν dω
Translational acceleration: a = Angular acceleration: α =
dt dt
Net Force: ΣF = m a Net Torque: Στ = I α
Kinematic Equations Kinematic Equations
Particle under Constant Acceleration Rigid body under Constant Angular Acceleration
(a = CONSTANT) (α = CONSTANT )
νf = νi + at ωf = ωi + αt
1 2 1 2
xf = xi + νi t + at θf = θi + ωi t + αt
2 2
2 2 2
2
νf = νi + 2a(xf − xi ) ωf = ωi + 2α(θf − θi )
1 1
xf = xi + (νi + νf )t θf = θi + (ωi + ωf )t
2 2
xf θf
Work: W = ∫ Fx dx Work: W = ∫ τ dθ
xi θi
1 2 1 2
Translational Kinetic Energy: KT = mν Rotational Kinetic Energy: KR = I ω
2 2
Power: P = F ν Power: P = τ ω
Linear Momentum: p = m ν Angular Momentum: L = I ω
dp dL
Net Force: ΣF = Net Torque: Στ =
dt dt
13.8 What we have learned in Lecture 13
What we have learned in Lecture 13

Please check to make sure you know the followings.
From the rotational kinetic energy of a rigid body to the moment of inertia
Parallel-Axis Theorem
Torque
Model: Rigid object under a Net Torque
Energy Considerations in Rotational Motion
Rolling Motion of a Rigid Object

Borans Lect13 ECVL113 Se Eee Ce 2324

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Borans Lect13 ECVL113 Se Eee Ce 2324

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My General Physics Lecture Notes Fall 2023-2024

Lecture 13 Rolling and Moment

¹ sibel boran PART-1 Mechanics January 7, 2024 1 / 54

NOW, we will learn

NOW, we will learn

NOW, we will learn

NOW, we will learn

NOW, we will learn

NOW, we will learn

NOW, we will learn

When a rigid body rotates about a fixed axis,

When a rigid body rotates about a fixed axis,

The moment of inertia of a system of DISCRETE particles

CE 13.1 An Unusual Baton (for discrete objects)

(a) If the system rotates about the

CE 13.1 An Unusual Baton (for discrete objects)

(a) If the system rotates about the

(b) Suppose the system rotates in the

Sol 13.2 (c)

The moment of inertia of a system of CONTINUOUS particles

The moment of inertia of a system of CONTINUOUS particles

If we take the volume mass density, ρ = m/V : dm = ρ dV in (3), we get

The moment of inertia of a system of CONTINUOUS particles

If we take the volume mass density, ρ = m/V : dm = ρ dV in (3), we get

If we take the surface mass density, σ = m/a: dm = σ da in (3), we get

The moment of inertia of a system of CONTINUOUS particles

If we take the volume mass density, ρ = m/V : dm = ρ dV in (3), we get

If we take the surface mass density, σ = m/a: dm = σ da in (3), we get

If we take the length (linear) mass density, λ = m/L: dm = λ dL in (3), we get

CE 13.4 Uniform Solid Cylinder (for continuous objects)

A uniform solid cylinder has a radius R,

CE 13.4 Uniform Solid Cylinder (for continuous objects)

A uniform solid cylinder has a radius R,

A hollow cylinder of uniform mass den-

A hollow cylinder of uniform mass den-

The relationship between the moment of inertia

The relationship between the moment of inertia

CE 13.7 Using the parallel-axis theorem

The relationship between the moment of inertia

CE 13.7 Using the parallel-axis theorem

CE 13.8 The Net Torque on a Cylinder

Sol 13.8 (a)

Sol 13.8 (a)

The torque vector τ⃗ = r⃗ × F⃗ is directed along

The torque vector τ⃗ = r⃗ × F⃗ is directed along

 Recall! Vector (cross) product of two vectors

 Recall! Vector (cross) product of two vectors

 Recall! Vector (cross) product of two vectors

 Recall! Vector (cross) product of two vectors

 Recall! Vector (cross) product of two vectors

CE 13.10 The Torque Vector

CE 13.10 The Torque Vector

where l is the level arm. We will first calculate this:

then, first way:

Now, consider a particle of mass m rotating in

Now, consider a particle of mass m rotating in

The tangential force provides a tangential acceleration a⃗tan ,

where ai = ri α, the expression for τi becomes

where ai = ri α, the expression for τi becomes

We can apply the same process into the external forces:

in the same time

A wheel of radius R, mass M, and moment of inertia I

A wheel of radius R, mass M, and moment of inertia I

A wheel of radius R, mass M, and moment of inertia I

Recall! Vector (cross) product of two vectors

Recall! Vector (cross) product of two vectors

Recall! Vector (cross) product of two vectors

Recall! Vector (cross) product of two vectors

Recall! Vector (cross) product of two vectors