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11 Rotation and Torque
11 Rotation and Torque
11 Rotation and Torque
Today’s Agenda
Rotational Kinematics
Analogy with one-dimensional kinematics
w
1
VKlyde VBonnie
2
d
w
dt
dx
(Analogous to v )
dt
constant
w w 0 t
1
0 w 0t t 2
2
constant v
w w0 t
x
1 R
0 w0 t t 2
2 w
Recall also that for a point at a
distance R away from the axis of
rotation:
x = R
v = wR
And taking the derivative of this we find:
a = R
constant a constant
w w0 t v v 0 at
1 1 2
0 w 0 t t 2 x x 0 v 0t at
2 2
x = Rv = wR a = R
R
m4
r4 w r1 m1
m3
r3 r2
m2
I mi ri 2
i
m m
m m
Physics 111: Lecture 17, Pg 15
Calculating Moment of Inertia...
The squared distance from each point mass to the axis is:
2
L L2
r 2
2
Using the Pythagorean Theorem
2 2
2 2 2 2 2
N L L L L
so I mi ri m m m m 4 m
2 L
i 1 2 2 2 2 2
I = 2mL2 L/2
m m
r
L
m m
Physics 111: Lecture 17, Pg 16
Calculating Moment of Inertia...
N L2 L2 L2 L2 L2
I mi ri m m m m 4 m
2
i 1 4 4 4 4 4
r
m m
I = mL2
L
m m
N
I mi ri mL2 mL2 m0 2 m0 2
2
i 1
r
m m
I = 2mL2
L
m m
m m
m m
a
(a) Ia > Ib > Ic
(b) Ia > Ic > Ib b
(c) Ib > Ia > Ic
c
Ic m2 L 4 mL2
2
m
a
L
b
So (b) is correct: Ia > Ic > Ib L
c
m m
1
R I MR 2
2
Thin hoop of mass M and radius R,
about an axis through a diameter.
1
I MR 2
2
Solid disk or cylinder of mass M and
R radius R, about a perpendicular axis
through its center.
solid hollow
solid hollow
Some examples of I for solid objects (see also Tipler, Table 9-1):
1
I ML2
12
Thin rod of mass M and length L, about
a perpendicular axis through its center.
L
1
I ML2
3
Thin rod of mass M and length L, about
a perpendicular axis through its end.
L
1 L2 1
So IEND ML M ML2
2
12 2 3
1 1
K NET mi ui2 MVCM 2
2
2
KREL KCM
For a solid object rotating about its center of mass, we
now see that the first term becomes:
1 Substituting ui w ri
K REL mi ui 2
2
1 mi ri
2
ICM
K REL w 2 mi ri 2 but
2
1
K REL ICM w 2
2
Physics 111: Lecture 17, Pg 30
Connection with CM motion...
1 1
K NET ICM w 2 MVCM
2
2 2
VCM
Rotational Kinematics
Analogy with one-dimensional kinematics
Today’s Agenda
Angular Linear
= constant a constan t
w = w0 + t v = v 0 + at
1 2 1 2
= 0 + w0 t + t x = x0 + v 0 t + at
2 2
x = R v = wR a = R
v=0 K = - U = Mgh
R w=0
M K=0
1 2 1
h K = I w + Mv 2
2 2
v = wR
If there is no slipping:
w v
2v v
v
Where v = wR
1 2 1 hoop: c=1
K = I w + Mv 2 Use v = wR and I = cMR2 .
2 2 disk: c = 1/2
1 1 1 sphere: c = 2/5
K= c MR 2 w2 + Mv 2 = ( c + 1)Mv 2
2 2 2
etc...
So: 1 1
( c + 1)Mv 2 = Mgh v = 2 gh
c +1
2
The rolling speed is always lower than in the case of simple sliding
since the kinetic energy is shared between CM motion and rotation.
y
CW rotation is in
the - z direction x
a
rF = mr2
ri Fi , mi ri i
So for a collection of many particles 2
arranged in a rigid configuration: i i
i I
m3
r3 r2
m2
F2
F3
Physics 111: Lecture 17, Pg 45
Rotational Dynamics:
What makes it spin?
NET = I
= rF
= r F sin Fr F
= r sin F
F
= r pF
rp = “distance of closest approach” r
Equivalent definitions!
rp
= r Fsin F
So if = 0o, then = 0 r
(a) case 1
L
(b) case 2
(c) same F F
L
axis
case 1 case 2
F F
L L
case 1 case 2
r
x
z
Physics 111: Lecture 17, Pg 51
The Cross Product
B
AXB=C
The length of C is given by:
A
C = AB sin
C
The direction of C is perpendicular to
the plane defined by A and B, and in
the direction defined by the right hand
rule.
C=AXB
B
CX = AY BZ - BY AZ
CY = AZ BX - BZ AX A
CZ = AX BY - BX AY C
Note: B X A = - A X B
=rXF
= rF sin
X = rY FZ - FY rZ = y FZ - FY z F
Y = rZ FX - FZ rX = z FX - FZ x
Z = rX FY - FX rY = x FY - FX y
r
y
x
z
z = Izz
z
Iz
z
L = 0.5 m
1 1 45o
I ML2 3 kg 0.5 m 2 0.25 kgm2
3 3 F = 200 N
L = 0.5m
So = / I = (70.7 Nm) / (0.25 kgm2)
= 283 rad/s2
K
2
1 2
I wf w i2 WNET
M
R
4W 4 62 .8 J
w w = 792.5 rad/s
MR 2
.04 kg .1 2
w1 w2
(a) disk 1
(b) disk 2
(c) same
F F
w1 = w2
F F
negligible
1 2 1
W K Iw mv 2 in this case
2 2 m
2W
w
I
In this case, I = 1 kg - m2
W = mgh = (2 kg)(9.81 m/s2)(1 m) = 19.6 J
Today’s Agenda
Review
Many body dynamics
Weight and massive pulley
Rolling and sliding examples
Rotation around a moving axis: Puck on ice
Rolling down an incline
Bowling ball: sliding to rolling
Atwood’s Machine with a massive pulley
NET = I
(a) 1
(b) 2 F2
F1
(c) 4
We know I
but FR and I mR 2
so FR mR 2 F2 mR2 R2
F mR F1 mR1 R1
F2
Since R2 = 2 R1 2
F1
F2
F1
W
dW d
P w
dt dt
a mg
L
mR 2 m
where a 2
g
mR I a mg
L
M
R
F
Top view
M A
1
I MR 2 R
2 F
Physics 111: Lecture 17, Pg 77
Rotation around a moving axis...
L 2D
F F
D L
M A
R
F
Physics 111: Lecture 17, Pg 79
Rolling
Mg sin - f = ma A
We have two equations: f I
R2
MR 2 sin
A=g
MR 2 + I
I
A M R
For a sphere:
MR 2 sin 5
A=g = gsin
2 7
MR + MR 2
2
5
1 1 3
MgH MV 2 MV 2 MV 2
4 2 4
H
3 3
So: MgH MV 2 gH V 2
4 4
4
V gH
3
w
vf= wR v0
f = Mg
D
Physics 111: Lecture 17, Pg 86
Sliding to Rolling...
w
x v f= wR v0
f = Mg
D
Physics 111: Lecture 17, Pg 87
Sliding to Rolling...
5g
We have two equations: v v 0 gt (a) w= t (b)
2R
2 Rw
Using (b) we can solve for t as a function of w t
5 g
w
x vf= wR v0
f = Mg
D
Physics 111: Lecture 17, Pg 88
Lecture 19, Act 3
Rotations
A bowling ball (uniform solid sphere) rolls along the floor
without slipping.
What is the ratio of its rotational kinetic energy to its
translational kinetic energy?
1 2 1
(a) (b) (c)
5 5 2
1 1
K= I w 2 MV 2
2 2
rotational translational
K K
2 2 V
2
1 2
Iw MR 2
R 2
K ROT 5
2
KTRANS 1 2 MV 2
5
MV
2
a T1 T2
a
For the pulley use = I I
R
a 1 m1 m2
T1R - T2R I MRa
R 2
a
1 m2g
(Since I MR 2 for a disk) m1g
2
Physics 111: Lecture 17, Pg 92
Large and small pulleys
Atwoods Machine with Massive Pulley...
1
T1 - T2 Ma (3) T1 T2
2 a
m1 m2
m1 m 2
a g
m1 m 2 M 2 a
m2g
m1g
Review
Many body dynamics
Weight and massive pulley
Rolling and sliding examples
Rotation around a moving axis: Puck on ice
Rolling down an incline
Bowling ball: sliding to rolling
Atwood’s Machine with a massive pulley