01 Rotational Dynamics

Rotational Dynamics
01
Weightage of the Chapter
With option 07 marks
Without option 05 marks
Std 12th Physics_01 Rotational Dynamics 02

INDEX
Sr. No. Subtopic Name Slide No. Sr. No. Subtopic Name Slide No.
1.1 Introduction 04 1.7 Theorem of Parallel Axes and 47
Theorem of Perpendicular A
1.2 Characteristics of Circular M 05 1.8 xes
Angular Momentum or Mom 66
otion ent of Linear Momentum
1.3 Applications of Uniform Cir 12 1.9 Expression for Torque in Ter 68
cular Motion ms of Moment of Inertia
1.4 Vertical Circular Motion 32 1.10 Conservation of Angular Mo 73
mentum
1.5 Moment of Inertia as an Anal 39 1.11 Rolling Motion 76
ogous Quantity for Mass
1.6 Radius of Gyration 45

1.1 Introduction
Revolution of an object
The motion of an object around a point, especially

around another object or a center of mass. Periodic Motion
Motion of the Moon Around the Earth Motion of the Earth Around its Axis
Rotation of an object
The motion of an object about an axis of rotation

passing through the object.

1.2 Characteristics of Circular Motion
Circular Motion
Circular Motion
Motion of an object around a circular path is called as
circular motion.
Motion of a Satellite around the Earth Motion of a Stone Tied to a
Rope Hovering in the Air
Characteristics of circular motion
Accelerated motion: As the direction of velocity changes

at every instant, it is an accelerated motion.
Periodic motion: During the motion, the particle repeats

its path along the same trajectory. Thus, the motion is
periodic.

Kinematics of circular motion

where,
v = Final linear velocity,
No. Linear motion Rotational motion u = Initial linear velocity,
i. v = u + at  = 0 + t a = Linear acceleration,
s = Linear displacement,
ii. s = ut + 1 at2 1
 = 0t + 2 αt2
2  = Final angular velocity,
2 = 0 + 2
2
iii. v2= u2+ 2as 0= Initial angular velocity,
 = Angular acceleration,
 = Angular displacement,
Quantity Linear Rotational
t = Time
Displacement  
s 
 
Velocity  ds  d
v =  =
dt dt
 
Acceleration  dv 
d
a = dt  = dt

Uniform Circular Motion
Uniform Circular Motion

During circular motion, if the speed of the particle remains constant, it
is called Uniform Circular Motion (UCM).

v
In U.C.M., only the direction of its velocity changes at every instant.
The acceleration responsible for U.C.M. is the centripetal or

 
radial acceleration,. it is given as, a r   2 r  r P

v2 
For U.C.M, its magnitude is constant and it is, a = 2r = = v ar
r C
It is always directed towards the centre of the circular motion


(along − r ), hence called centripetal.
Example: Circular motion of any particle of a fan rotating uniformly.

Non- Uniform Circular Motion
During circular motion if the speed of the particle varies, it is

Non- Uniform Circular Motion
called non-uniform circular motion.
The velocity is tangential.

 
The magnitude of velocity is not constant.  

The acceleration is directed along or opposite to the velocity, hence it 
is always tangential

and the acceleration is called as tangential
acceleration a T .
 
As magnitude of tangential velocity v is changing during a non- 
uniform circular motion, the corresponding angular velocity  is also 
d Increasing speed Decreasing speed
changing at every instant. This is due to the angular acceleration,  = dt

The direction of  is along the axis of rotation. For increasing speed,
it is along the direction

of  while during decreasing speed, it is
opposite to that of  .

Centripetal and Centrifugal force:
Sr. No. Centripetal force Centrifugal force

Centripetal force is Centrifugal force is
directed along the directed along the
i. radius towards the radius away from the
centre of a circle. centre of a circle.
ii. It is a real force. It is a pseudo force.

It is considered in It is considered in
iii. inertial frame of non-inertial frame of
reference. reference.
In vector form, it 2is In vector form, it 2is Centrifugal Force Centripetal Force
iv.
 mv
given by F = – r r̂0 given by F = + mv r̂0
r
with usual notations.
with usual notations.

Check Your Grasp
  
Q The vector relation between linear velocity v , angular velocity  and radius vector r is given by
     
A v= r B v= r 
Q The angular speed of the second hand of a watch is

A π/30 rad/s B π rad/s
2
Use the formula: ω =
T
Q _____force is directed along the radius away from the centre of a circle.
Centrifugal

Numerical Section
Q A fan is rotating at 90 r.p.m. It is then switched OFF. It stops after 21 revolutions. Calculate the
time taken by it to stop assuming that the frictional torque is constant.
Ans: 28 s
Solution: i. θ = 2πN = 2π × 21 = 42π rad
ii. ω0 = 2πn0 = 2π × 1.5 = 3π rad /s
  0   0
2 2
iii. α = =
t 2
2
0  3 = 0  3π  ....(Since, fan finally stops, ω = 0)
2
t 2 × 42π
⇒ t = 28 s

1.3 Applications of Uniform Circular Motion
Vehicle Along a Horizontal Circular Track

Vehicle along a horizontal
Consider vertical section of a car moving on a horizontal
circular track
circular track having a radius ‘r’ with ‘C’ as centre of track.
Forces acting on the car N

a. Weight (mg), vertically downwards,
b. Normal reaction (N), vertically upwards
c. Force of static friction (fs) between road and the tyres. C fS
The normal reaction balances the weight

 N = mg ....(1) mg
The frictional force balances the centrifugal force.

r
mv 2
fs = .…(2)
r
Dividing equation (2) by equation (1),
fs v2
 = .…(3)
N rg
We have,
mv 2
fs = .…(2)
r
2 Vehicle along a horizontal
 fs = v .…(3)
N rg circular track
For a given track, radius r is constant. N

For given vehicle, mg = N is constant.
Thus, as the speed v increases, the force of static friction f s also increases.
At the maximum possible speed, C fS

 fs max v 2max ….[From equations (2) and (3)]
 s 
N rg mg
 vmax = s rg
r
This is an expression for maximum possible speed for a vehicle to move
on a horizontal unbanked road.

Well or (Wall) of death
The forces acting on the vehicle (assumed to be a point) are:

Well or (Wall) of Death
a. Normal reaction (N) acting horizontally and towards the centre,
b. Weight (mg) acting vertically downwards,
c. Force of static friction (fs) acting vertically upwards between
vertical wall and the tyres.
It is static friction because it has to prevent the downward slipping.


Its magnitude is equal to mg, as this is the only upward force. fs
 mg = fs
C
....(1) N
mg
Normal reaction (N) is thus the resultant centripetal force (i.e., the
only force that can balance the centrifugal force)
mv 2
 N= .…(2)
r

We have,
 mg = fs
mv 2 ....(1)
 N= .…(2)
r Well or (Wall) of Death
In order to continue the horizontal motion, force of static friction f s
should be always less than or equal to μsN.
 fs  μs N
 mv 2 
 mg  μs   …[From equation (1) and (2)]
 r 

 v2 fs
 g s
r
rg C
 v2  N
s mg
 The minimum safest velocity of a body to move in well of death is,

rg
vmin = s

Vehicle on a Banked Road
Consider a vehicle on a curved road of radius ‘r’ banked at an Vehicle on a Banked Road
angle ‘θ’ with the horizontal forces acting on the vehicle:
The forces acting on the vehicle are: N N cos

a. Weight (mg), vertically downwards
b. Normal reaction (N), perpendicular to the surface of the road. 
N sin
The normal reaction (N) is resolved into,
a. N sin θ – along the horizontal.
b. N cos  – along the vertical.
mg


The vertical component N cosθ balances the weight,

 N cos = mg ....(1)
Horizontal component Nsinθ provides the necessary centripetal force. Vehicle on a Banked Road
mv 2
 N sin = ....(2)
r
N N cos
Dividing equation (2) by equation (1),
v2
tan = 
rg
 v2  N sin

  = tan –1
  fs
 rg 
This is an expression for angle of banking when a vehicle moves

along a curved banked road neglecting friction. mg


Vehicle on a Banked Road
Minimum velocity:
Banked road: Lower speed limit
If the vehicle is running exactly at the speed v s = rg tan θ ,
the forces acting on the vehicle are
N N cos
a. Weight mg acting vertically downwards
b. Normal reaction N acting perpendicular to the road.
 fs sin
fs
For speeds v1  rg tan θ N sin
mv12 
The component N sinθ is greater than the centrifugal force fs cos
r
mv12
 < N sin
r
The direction of force of static friction (fs) between road and the tyres mg
is directed along the inclination of the road, upwards. 
The Horizontal component (fscosθ ) is parallel and opposite to Nsinθ.

These two forces take care of the necessary centripetal force (or
balance the centrifugal force).
mv 2
 1 = N sin – fs cos ….(1)
r
Banked road: Lower speed limit
The vertical components Ncosθ and fs sinθ is balanced by weight mg,
 mg = N cos  + fs sin  N cos
N
….(2)
For minimum possible speed, fs is maximum and equal to μsN.  fs sin
From equation (1) and (2), fs
N sin
 tan   s  
(v1)min = vmin = rg  fs cos

 1  s tan  
For s  tan, vmin = 0.

This is true for most of the rough roads, banked at smaller angles.
mg


Maximum velocity:
The direction of force of static friction (fs) between road and the
tyres is directed along the inclination of the road, downwards.
The horizontal component (fs cosθ ) is parallel to Nsinθ. Banked road: Upper speed limit
These two forces take care of the necessary centripetal force (or
N cos
balance the centrifugal force). N
mv 22
 = N sin + fs cos .…(3)
r 
The vertical component, N cosθ balances the component
fs sinθ and weight ‘mg’. N sin
 N cos  = fs sin + mg
fs cos
 mg = N cos   fs sin  
....(4) fs
For maximum possible speed, fs is maximum and equal to μsN . mg
fs sin
From equations (3) and (4),
 tan    s  
(v2)max = vmax = rg  
 1  s tan  
If μs = cotθ, vmax = ∞. But (μs)max = 1. Thus, for θ ≥ 45, vmax = ∞.

However, for heavily banked road, minimum limit may be important.
Conical Pendulum
Consider the vertical section of a conical pendulum having bob In an inertial frame
(point mass) of mass m and string of length ‘L’.
Here, θ is the angle made by the string with the vertical, at any
position (semi-vertical angle of the cone)
A
In a given position B, the forces acting on the bob are 
a. Its weight ‘mg’ directed vertically downwards L
L cos
b. The force ‘T0’ due to the tension in the string, directed along the T0 cos
string, towards the support A. T0
The tension (T0) in the string is resolved into r

C B
a. T0 cosθ: vertical component
T0 sin
b. T0 sinθ: horizontal component
mg

The vertical component (T0 cosθ) balances the weight ‘mg’.

 mg = T0 cos ....(1)
The horizontal component T0 sinθ then becomes the resultant

In an inertial frame
force which is centripetal.
mr2 = T0 sin  ....
(2) equation (2) by equation (1),
Dividing A
gsin 
2 = ....(3) 
r cos  L
From the figure,
L cos
r T0 cos
sin  =  r = L sin  T0
L
....(4)
From equation (3) and (4),
r
gsin θ g
2 = L.sin .cos   2 = C B
Lcos 
T0 sin
If T is the period of revolution of the bob, then
2 g mg
2 = = Lcos
T
Lcos 
 Period, T = 2 g

Check Your Grasp
Q The safety speed of a vehicle on a curve horizontal road is
A rg
B rg
Q The angle of banking of the road does not depend upon
A mass of the vehicle.

B speed of the vehicle.

Check Your Grasp
Q The force X in the given diagram represents ________.
N
N cos

N
sin

X
mg
A Force of static friction B Normal reaction

C Force of kinetic friction D Weight of the vehicle

Numerical Section
Q A motor cyclist at a speed of 5 m/s is describing a circle of radius 25 m. Find his inclination with vertical.
What is the value of coefficient of friction between tyre and ground?
Ans: i. 5°50′ ii.
0.1021
2
v2 5 1
Solution: i. tan θ = rg = 25 9.8 = 9.8 = 0.1021
 θ = tan–1 (0.1021) = 5°50′
v2
ii. = μg ⇒ μ = tan θ = 0.1021
r

Numerical Section
Q A string of length 0.5 m carries a bob of mass 0.1 kg at its end. It is used as a conical pendulum with a
period 1.41 s. Calculate angle of inclination of string with vertical and tension in the string.
Ans: i. 9°19′ ii.
2
 1.41  cos
0.993 N
l cos  1.41 = 2  3.142
0.5 cos
 =
Solution: i. T = 2π ⇒ 1.41 = 2 × 3.142 9.8 ⇒  23.142  19.6
g
2
 1.41 
 cos  =19.6   ⇒ q = 9°19′
 2  3.142 
mg 0.1  9.8
ii. Tension, T′ = == = 0.993 N
cos cos 919

Previously Asked Board Questions
Q A vehicle is moving on a circular track whose surface is inclined towards the horizon at an angle of 10°. The
maximum velocity with which it can move safely is 36 km/hr. Calculate the length of the circular track.
[Take π = 3.142]
[2 Marks] [Mar 17] Ans: 363.7 m
v2max
Use the formula: tan θ =tan=
rg
Q A flat curve on a highway has a radius of curvature 400 m. A car goes around a curve at a speed of 32 m/s.
What is the minimum value of coefficient of friction that will prevent the car from sliding?
(g = 9.8 m/s2)
[2 Marks] [Mar 18]
Ans: 0.26
v2
Use the formula:  = =
rg

Q In a conical pendulum, a string of length 120 cm is fixed at rigid support and carries a mass of 150 g at its free
end. If the mass is revolved in a horizontal circle of radius 0.2 m around a vertical axis, calculate tension in the
string. (g = 9.8 m/s2) [2
Marks] [Oct 13]
Ans: 1.491 N
mg
Use the formula: Tension, T = Tensio,T=
cos
[Tip: To calculate the angle q, Pythagoras theorem
must be applied in the adjoining figure.
h
 cos  =
r2  h2
mg r 2  h 2
Thus, formula becomes T = J.]
h

Q In a Circus, a motor-cyclist having mass of 50 kg moves in a spherical cage of radius 3 m. Calculate the
least velocity with which he must pass the highest point without losing contact. Also calculate his angular
speed at the highest point.
[3 Marks][Feb 20]
Ans: i. 5.42 m/s ii. 1.8 rad/s
Use the formulae: i. vH = rg ii. vH = rw
Q A particle rotates in U.C.M. with tangential velocity ‘v’ along a horizontal circle of diameter ‘D’. Total angular
displacement of the particle in time ‘t’ is _______. [1 Mark] [Mar 16]
v
A vt B t
D
vt 2vt
C 2D D D

Q A body of mass ‘m’ performs uniform circular motion along a circular path of radius ‘r’ with velocity ‘v’. If
its angular momentum is L, then the centripetal force acting on it is _______. [1 Mark] [July 17]
mL2 L2
A r3
B mr
L2 L2
C mr 2
D mr 3
Q In rotational motion of a rigid body, all particles move with _______. [1 Mark] [Feb 20]
A same linear velocity and same angular velocity

B same linear velocity and different angular velocity
C different linear velocities and same angular velocities
D different linear velocities and different angular velocities
Q The period of a conical pendulum in terms of its length (l), semivertical angle (θ) and acceleration due to
[1 Mark [Mar 15]

1 l cos  1 l sin 
A 2 g B 2 g
l cos  l tan 
C 4
4g
D 4
g

1.4 Vertical Circular Motion
Point mass undergoing vertical

circular motion under gravity
TA A
T1
Consider a bob (treated as a point mass) tied to a (practically) TH
mg sin  mg
massless, inextensible and flexible string.
 mgcos
(retardes)
(accelerates)
TM
It is whirled along a vertical circle so that the bob performs a vertical mg O TD= 3mg + TA
circular motion and the string rotates in a vertical plane. C
TC = TD D
At any position of the bob, there are only two forces acting on the bob: mg
mg TB = 6mg + TA
a. Weight (mg), vertically downwards, T2
b. The force due to the tension (T), directed along the string and
B mgcos
towards the centre. 
mg sin  mg

Uppermost position (A):
Both, weight (mg) and force due to tension (T A) are downwards,

i.e., towards the centre. In this case, their resultant is used only as
the centripetal force.
TA A
T1
Thus, if vA is the speed at the uppermost point, TH
mg sin  mg
mv 2
mg + TA = A .…(1)  mgcos
(retardes)
(accelerates)
r TM
mg O TD= 3mg + TA
For minimum possible speed at this point (or if the motion is to C
TC = TD D
be realized with minimum possible energy), T A = 0
mg
 (vA)min = rg ….(2) mg TB = 6mg + TA
T2
B mgcos

mg sin  mg

Lowermost position (B):

TB is vertically upwards, i.e., towards the centre, and opposite to mg.
If vB is the speed at the lowermost point,

mv 2B TA A
TB – mg = .…(3) T1
r TH
mg sin  mg
The corresponding decrease in the gravitational potential energy  mgcos
(retardes)
(accelerates)
is converted into the kinetic energy. TM
mg O TD= 3mg + TA
1 1 C
 mg(2r) = mv 2B  mv 2A D
2 2 TC = TD
 v 2B  v 2A = 4rg ….(4) mg
mg TB = 6mg + TA
From equation (2) and (4), T2
v 2B = 4rg + rg
B mgcos

 (vB)min = 5rg ….(5)
mg sin  mg

Midway position(C):
At midway position (C), while coming down from the midway point
to the lowermost point, the vertical displacement is ‘r’.
Hence, the corresponding decrease in the gravitational P.E. is TA A
converted into K.E. T1
TH
1 1 2 2 mg sin  mg
mgr = m v 2A – m vC2  v A – vC = 2 gr
2 2  mgcos
(retardes)
(accelerates)
TM
Since, vA= 5rg mg O TD= 3mg + TA
C
 vC2 = 5 rg – 2 rg TC = TD D
mg
 (vc)min = 3rg
mg TB = 6mg + TA
T2
Similarly (vD)min = 3rg
B mgcos

mg sin  mg

Difference between the extreme tensions:

We have equations (1), (3) and (4) as:
mv 2A
mg + TA = .…(1)
r A
TA
mv 2 T1
TB – mg =
B
.…(3) TH
r mg sin  mg
 mgcos
(retardes)
(accelerates)
v 2B  v 2A = 4rg ….(4) TM
mg O TD= 3mg + TA
C
TC = TD D
Subtracting equation (1) from equation (3),
mg
m 2 TB = 6mg + TA
TB – TA – 2mg =  v B  v A 
2 mg
….(6) T2
r
Using equation (4) in equation (6) and rearranging, we get,
B mgcos
TB – TA = 6mg 
mg sin  mg
Hence, difference in tension at extreme positions depends only on weight.
Also, TC – TA = TD – TA = 3 mg

Check Your Grasp
Q For a particle moving in a vertical circle,
A Neither K.E. nor P.E. is constant.

B Both kinetic energy and potential energy are constant.
Q A body tied to a string and moved in a vertical circle, the tension in the string at the highest position is ___
A between maximum and minimum values

B minimum
Q The velocity of the particle is 5rg at the ____ position.
Lowermost

Q A particle of mass m, just completes the vertical circular motion. Derive the expression for the difference in
tensions at the highest and the lowest points. [4 Marks]
[Mar 13]
Refer slide no. 32 to 36

1.5 Moment of Inertia as an Analogous Quantity for Mass
Expression for kinetic energy of a rotating body

A body of N particles
Consider a rigid object rotating with a constant angular speed ω
about an axis perpendicular to the plane of paper. 
Let us consider the object to be consisting of N particles of masses
m1, m2, …..mN at respective perpendicular distances r1, r2, …..rN
from the axis of rotation.
m2
As the object rotates, all these particles perform UCM with the r2 rN
same angular speed ω, but with different linear speeds, mN
v1 = r1, v2 = r2,…., vN = rN r1 m1
Translational K.E. of the first particle is

1 1
(K.E.)1 = m1v1  m1r1 
2 2 2
2 2

Rotational K.E. of the object, is the sum of individual

translational kinetic energies. Thus,
1 1 1
Rotational K.E = m1r122  m 2 r222 ....  m N rN2 2
2 2 2 A body of N particles
1
 Rotational K.E =  m1r1  m 2r2 ....  m N rN  
2 2 2 2
2
N 
But I =  m i ri = m1r1  m 2 r2 ....  m N rN
2 2 2 2
i 1
1 2
 Rotational K.E = I
2
m2
r2 rN
mN
r1 m1

Moment of inertia of a Ring
An object is called a uniform ring if its mass is (practically) situated

uniformly on the circumference of a circle. Moment of Inertia of a ring
If it is rotating about its own axis (line perpendicular to its plane and
passing through its centre), its entire mass M is practically at a
distance equal to its radius R from the axis.
Hence, the expression for the moment of inertia of a uniform ring of R

mass M and radius R is I = MR2. R
R

Moment of inertia of a Uniform Disc
Consider a uniform disc of mass M and radius R rotating about its own
axis, which is the line perpendicular to its plane and passing through its Moment of inertia of a Uniform Disc
centre.
M M
Surface density of disc,  = 
A R 2
Consider a number of concentric rings of radii increasing from zero to R. Elemental ring
One of such rings of mass ‘dm’ is shown by shaded portion in the figure.
Width of this ring is ‘dr’, which is so small that the entire ring can be
considered to be of average radius r. dr r R
Area of this ring, A = (2πr)dr
dm
 = 2r dr  dm = (2r)dr
 
As it is a ring, this entire mass is at a distance r from the axis of rotation.
Thus, the moment of inertia of this ring,
Ir = dm (r2)

Moment of inertia (I) of the disc can now be obtained by

integrating Ir from r = 0 to r = R.
R R R R
\ I = I =  Ir   dm  r2   2r  dr  r 2  2 r 3  dr Moment of inertia of a Uniform Disc

0 0 0 0
 R4   M  R 4  1
\I = 2  4   2 R 2  4   2 MR 2
    
Elemental ring
dr r R

Check Your Grasp
Q If a mass shifts towards the axis of rotation, its M.I. will _____
A decrease
B increase
Q The moment of inertia of a ring is
A I = MR2
B I = 4MR2

1.6 Radius of Gyration
The moment of inertia of any object depends upon mass of that object and
how that mass is distributed from or around the given axis of rotation.
In order to know only the mass distribution around the axis of rotation, we
can express moment of inertia of any object as
I = MK2, where M is mass of that object.

Where K is defined as the Radius of Gyration of the object
If K is radius of gyration for an object,

Then, I = MK2 is the moment of inertia of that object.
Physical Significance
The knowledge of mass and radius of gyration of the body about a given
axis of rotation gives the value of its moment of inertia about the same
axis, even if we do not know the actual shape of the body.

Q Define radius of gyration and give its physical significance. [2 Marks] [July 18, Oct 13, Mar 19]
Refer slide no. 45

1.7 Theorem of Parallel Axes and Theorem of Perpendicular Axes
Theorem of Parallel Axes

Theorem of parallel axes
Statement: The moment of inertia (Io) of an object about any axis is the
sum of its moment of inertia (Ic) about an axis parallel to the given A
M
axis, and passing through the centre of mass and the product of the Ic
mass of the object and the square of the distance between the two axes. Io
Mathematically, Io = Ic + Mh2
Consider an object of mass M. Axis MOP is any axis passing through D
point O. N
O h C
Axis ACB is passing through the centre of mass C of the object,
parallel to the axis MOP, and at a distance h from it ( \ h = CO).
Consider a mass element ‘dm’ located at point D. P B
  DC  dm
2
Moment of inertia of the object about the axis ACB is I c =
Moment of inertia of the object about the axis MOP it is I o =   DO  dm

2

  DO  dm =   DN    NO   dm
2 2
 Io =
2

=   DN    NC   2  NC  CO  CO   dm
2 2 2
=   DC   2NC  h  h  dm
2 2 Theorem of parallel axes
….(using Pythagoras theorem in ∆DNC)
M A
=   DC  dm  2h  NC  dm  h  dm
2 2
Ic
Io
Now,   DC  dm  IC and
2
 dm  M
D
NC is the distance of a point from the centre of mass  NC  dm  0
 Io = Ic + Mh2 N
O h C
This is the mathematical form of the theorem of parallel axes.

P B

Theorem of Perpendicular Axes
Statement: The moment of inertia of a laminar object about

Theorem of perpendicular axes
an axis (Z) perpendicular to its plane is the sum of its
moment of inertia about two mutually perpendicular axes (X Z
and Y) in its plane, all the three axes being concurrent.
Mathematically, Iz = Ix + Iy
Consider a rigid laminar object able to rotate about three

mutually perpendicular axes X, Y and Z.
O N Y
Consider a mass element dm located at any point P. PM = y M
and PN = x are the perpendiculars drawn from P respectively x
y P
on the X and Y axes.
The respective perpendicular distances of point P from X, Y X

and Z axes will then be y, x and y  x
2 2

If Ix, Iy and Iz are the respective moment of inertia of

the body about x, y and z axes, then
Ix =  y dm ,
2
Iy =  x 2dm, Theorem of perpendicular axes

Z
Iz =   y 2  x 2  dm
 Iz =  y dm +  x dm
2 2
Iz = Ix + Iy
This is the mathematical form of the theorem of perpendicular axes. O N Y

M x
y P

Application of perpendicular and parallel axes theorem on different regular bodies:

M. I of a thin rod of mass M and length L about
an axis passing through its Van axis passing through its one
centre and perpendicular to L/2 L/2
end and perpendicular to its
ML2 ML2 L
its length: L length:
12 3
Using parallel axes
theorem

M. I of a circular ring of mass M and radius R about

an axis passing through its a tangent, and perpendicular to the
centre and perpendicular to plane of the ring: 2MR2
R R
the plane of the ring: MR2
Using parallel axes

theorem (+ MR2)
Using perpendicular
axes theorem
a tangent, and in the plane of the

3
ring: MR2 R
an axis passing through its 2
1 R
diameter: MR2 Using parallel axes
2 theorem (+ MR2)

M. I of a circular disc of mass M and radius R about

an axis passing through a tangent, and perpendicular to the
its centre and 3
R plane of the disc: MR2 R
perpendicular to the 2
plane of the disc:
Using parallel axes
1 theorem (+ MR2)
MR2 Using perpendicular
2
axes theorem a tangent, and in the plane of the
5
disc: MR2 R
4
an axis passing through
1 R
its diameter: MR2 Using parallel axes
4
theorem (+ MR2)
R2 M
R1 2
Std 12th Physics_01 Rotational Dynamics Using parallel axes 53
M. I of a flat annular disc of mass M and inner and outer radii as R1 and R2 about
an axis passing through a tangent, and perpendicular to the plane
its centre and R2 M
M of the disc: (R12 + 3R22)
perpendicular to the R1 2
2
plane of the disc: Using parallel axes
sing parallel
M axes2 2
theorem (+ )
heorem (+ 2 (R1) + R2 )
Using perpendicular
axes theorem
a tangent, and in the plane of the disc:
M
M (R12 + 5R22)
4
4
an axis passing through
its diameter:
M Using parallel axes
(R12 + R22)
sing parallel axes
4 theorem (+ )
heorem (+ )

M. I of a solid sphere of mass M and radius R about an axis passing through

2 7
its diameter MR2 ts tangent MR2
5 5
Using parallel axes

theorem (+ MR2)
M. I of a hollow sphere of mass M and radius R about an axis passing through

2 5
its diameter MR2 its tangent MR2
3 3
Using parallel axes

theorem (+ MR2)

M. I of a cylinder of mass M, radius R and length L about an axis passing through

1
its own axis: MR2 a tangent parallel to its length:
2 R R
3
MR2
L
2
L
Using parallel axes

theorem (+ MR2)
one of its end face and

centre and perpendicular
perpendicular to length:
 R 2 L2 
to length: M  +   R 2 L2 
 4 12  M   
 4 3 
L/2 L/2
Using parallel axes
theorem

M. I of a rectangular lamina of mass M, length L and breadth B about an axis passing through
length of lamina and in its breadth of lamina and in its
MB 2 B ML2
plane: plane: B
3 3
L
L
centre of mass of lamina and centre of length and perpendicular to
perpendicular to its plane: M  L2 B 2 
its plane: M   
 L2  B 2   12 3  B
 
 12  Using parallel axes
L
theorem
B
centre of breadth and perpendicular to its
plane:
L
B
 L2 B 2 
M  
 3 12 
L
Using parallel axes
theorem

1.7 Theorem of Parallel
 H 2 Axes
B 2  and Theorem of Perpendicular Axes
  
 3 12 
2
3
 L2 H2 
M. I of a rectangular
 block of mass M, length L, breadth B and height H about an axis
1  3 12 
passing through centre of block and parallel to passing through end face and parallel to
 B 2  HB2 2 L2   H 2 B2 
length M   length M   
 12 3  12 
   3 12 
2
 H 2  L2  3
breadth M   B  L2 H 2  1
 12  breadth M   
1  3 12  2
 L2  B 2 
height M   H
 B 2 L2 
 12  height M   
L 3
 3 12 

Check Your Grasp
Q The radius of gyration is independent of
A mass of the body. B axis of rotation.
Q Which of the following is the correct formula for the theorem of parallel axes
A I z= I x + I y B Io = Ic + Mh2
Q Which of the following diagram describes the theorem of perpendicular axes

A Z B M A
Ic
Io
D
O N Y N
O h C
M x
y P
X P B

Numerical Section
Q Calculate the M.I of a solid sphere of mass 10 kg and radius 0.5 m, rotating about an axis passing through a
point at a distance of 0.4 m from the centre of the sphere.
Ans: 2.6 kg m2
Use the formula: Io = IC + Mh2
[Tip: Referring to figure, theorem for parallel axes can
be aplleid to calculate the required moment of inertia.]

Q State and prove theorem of parallel axes [4 Marks] [Mar 14, Mar
16, Mar 20]
Refer slide no. 47 and 48
Q State theorem of parallel axes and theorem of perpendicular axes about moment of inertia.
[2 Marks]
Refer slide [Mar
no. 47 and 49 15]

Q A uniform solid sphere has radius 0.2 m and density 8 × 10 3 kg/m3. Find the moment of inertia about the
tangent to its surface. (π = 3.142) [2 Marks]
[July 17]
Ans: 15.02 kg m2
4 
Solution: Mass (M) = volume × density  R 3  
= 3 
7 2
Now, I0 = 5 MR
= 7  4 R 3  R2
 
5 3 
= 28  3.142  (2  101)5  8000

15
= 15.02 kg m2

Q A solid cylinder of uniform density of radius 2 cm has mass of 50 g. If its length is 12 cm, calculate its
moment of inertia about an axis passing through its centre and perpendicular to its length.
[2 Marks]
Ans: [Mar
6.5 × 10 –5
kg14]
m2
 R2 L2 
Use the formula: I= M  
 4 12 

Q A thin wire of length L and uniform linear mass density is bent into a circular coil. Moment of inertia of
the coil about tangential axis in its plane is _______. [1 Mark] [Oct
14] 2 8 2
3L
A 82
B 3L3
3L3 8
C D 3L2
8 2
Q A thin ring has mass 0.25 kg and radius 0.5 m. Its M.I. about an axis passing through its centre and
perpendicular to its plane is _______. [1
Mark] [Mar 18] 2
A 0.0625 kg m B 0.625 kg m2
C 6.25 kg m2 D 62.5 kg m2

Q The moment of inertia of a thin uniform rod of mass M and length L, about an axis passing through a point,
midway between the centre and one end, perpendicular to its length is [1 Mark] [Mar
13]
48 7
A ML2 ML2 B ML2 ML2
7 48
12 12
C ML ML2 D ML ML2
48 16
Solution: From parallel axes theorem,

2 2 2 2 2
I0 = Ic + Mh = ML + m  L  = ML + ML = 7ML
2  
12 4 12 16 48

1.8 Angular Momentum or Moment of Linear Momentum
Expression for Angular Momentum in

Terms of Moment of Inertia
Consider a rigid object rotating with a constant angular speed ‘ω’
about an axis perpendicular to the plane of paper. 
Let us consider the object to be consisting of N number of particles
of masses m1, m2, …..mN at respective perpendicular distances r1,
r2, …..rN from the axis of rotation.
m2
These particles perform UCM with same angular speed ω, but with r2 rN
different linear speeds
mN
v1 = r1ω, v2 = r2 ω, .....vN = rNω.
r1 m1
Linear momentum of the first particle is of magnitude
p1 = m1v1 = m1r1ω.
Its angular momentum is thus of magnitude
L1 = p1r1 = m1 r12 
2 2 2
Similarly, L2 = m1 r2 , L3 = m3 r3 ,…., LN = mN rN ,….,

1.8 Angular Momentum or Moment of Linear Momentum
As all the particles have the same direction, their magnitudes

can be algebraically added.
Thus, magnitude of angular momentum of the body is given by,
2 2 A body of N particles
L = m1 r12  + m1 r3  + ….. + MN rN 
=  m1r1  m 2r2  ....  m NrN    I

2 2 2

Where, I = m1r1  m 2r2  ....  m N rN is the moment of inertia

2 2 2
of the body about the given axis of rotation.

m2
r2 rN
mN
r1 m1

1.9 Expression for Torque in Terms of Moment of Inertia
Consider a rigid object rotating with a constant angular acceleration

‘’ about an axis perpendicular to the plane of paper.
Let us consider the object to be consisting of N number of particles of
masses m1, m2,…..mN at respective perpendicular distances r1, r2,…..rN 
from the axis of rotation.
As the object rotates, all these particles perform circular motion with
same angular acceleration α, but with different linear (tangential) m2 fN
accelerations a1 = r1α, a2 = r2α,…., aN = rNα,etc.
f2 r2 rN mN
Force experienced by the first particle is,
f1 = m1a1 = m1r1α f1 = m1a1
As these forces are tangential, the irrespective perpendicular distances r1

m1
from the axis are r1, r2, …..rN.
Thus, the torque experienced by the first particle is of magnitude

1 = f1r1 = m1r12
Similarly, 2 = m 2 r22 , 3 = m3r32 … N = m N rN2 

1.9 Expression for Torque in Terms of Moment of Inertia
Magnitude of the resultant torque is then given by

 = 1 + 2 +….+N
=  m1r1  m1r2 ....  m N rN    I A body of N particles

2 2 2
Where, I = m1r1  m 2 r2 ....  m N rN is the moment of

2 2 2

inertia of the object about the given axis of rotation.
m2 fN
f2 r2 rN mN
f1 = m1a1
r1
m1

Check Your Grasp
Q The rate of change of angular momentum is called _____
Torque
Q Unit of angular momentum is _____
A J s-1 B Js
 
Q A force F is acting on a particle of position vector r , the torque will be
 
A r F A Fr

Q Obtain an expression for torque acting on a body rotating with uniform angular acceleration. [3 Marks][July 16]
Q When the angular acceleration of a rotating body is zero, which physical quantity will be equal to zero?
[1 Mark] [Mar 17]
A Angular momentum B Moment of inertia

C Torque D Radius of gyration

Q The body is rotating with uniform angular velocity (ω) having rotational kinetic energy (E). Its angular
momentum (L) is: [1 Mark] [July 16]
2E E2
A ω
B ω
E E
C ω2
D 2ω

1.10 Conservation of Angular Momentum
Angular momentum of an isolated system is conserved in the absence

of an external unbalanced torque.
Angular momentum or the moment of linear momentum of a system is given by,

  
L rp
Differentiating with respect to time, we get,

  
dL d    d p d r 
  r  p  r   p
dt dt   dt dt


dr dp
Now, = and =
dt dt

dL
= r  F  m  v  v 
   
\
dt  
NowNow vv  =0

=0


\ dL = r  F
 
dt

1.10 Conservation of Angular Momentum
  
But r  F is the moment of force or torque .

 dL
\ =
dt

 
dL
Thus, if  = 0, = 0 or L = constant.
dt
 
Hence, angular momentum L is conserved in the absence of external unbalanced torque .
This is the principle of conservation of angular momentum, analogous to the conservation

of linear momentum.

Q State and prove: law of conservation of angular momentum. [3

Marks] [Oct 15]

1.11 Rolling Motion
A rolling object possesses two types of kinetic energies: rotational and translational K.E.
Sum of rotational K.E. and translational K.E. is its total kinetic energy.
Consider an object of moment of inertia I, rolling uniformly.
Let,
v = Linear speed of the centre of mass
R = Radius of the body
 = Angular speed of rotation of the body
M = Mass of the body
K = Radius of gyration of the body
Total kinetic energy of rolling = Translational K.E. + Rotational K.E.
2
(MK2)  
1 1 1 1 v v
E= Mv2 + I2 = Mv2 + ….( = , I = MK2)
2 2 2 2 R R
1
 K2 
= Mv2 1  2 
2  R 
 
1
 K 
2
K.E. of rolling motion == Mv2 1  2 
2  R 

This is an expression for kinetic energy during rolling motion.
1.11 Rolling Motion
Linear distance travelled along the plane is

h
S = sin 
During this distance, the linear velocity has increased from zero to v.
If a is the linear acceleration along the plane,

v2 = u2 + 2as
 2as = v2 – u2
 h  2gh
 2a  sin     0
  K2 
1  
 R 2 

gsin 
a=  K2 
1  
 R 2 


Q Derive an expression for kinetic energy, when a rigid body is rolling on a horizontal surface without slipping.
[2 Marks] [Mar 13, similar in Mar 16]
Refer slide no. 76
Q A solid sphere of mass 1 kg rolls on a table with linear speed 2 m/s, find its total kinetic energy.
[2 Marks] [Mar
Ans: 2.817]
J
1  K2 
Use the formula: E= Mv2 1 2 
2  R
2  
[Tip: For solid sphere, K =  2  l]
R2  5 

Q The kinetic energy of a rotating body depends upon [1 Mark]

[Mar 15]
A distribution of mass only.
B angular speed only.
C distribution of mass and angular
speed.
D angular acceleration only.
Q A body of moment of inertia 5 kgm 2 rotating with an angular velocity 6 rad/s has the same kinetic energy as
a mass of 20 kg moving with a velocity of _______. [1 Mark]
[Mar 16]
A 5 m/s B 4 m/s
C 3 m/s D 2 m/s

Important Formulae
v2
1 In U.C.M angular velocity: 5 Centripetal acceleration or radial acceleration: a = = 2r
v 
r
i.  = ii.  =
r t   
2
6 Tangential acceleration: a T =  × r
iii.  = 2n iv.  =
T
7 Centripetal force:
2 Angular displacement: mv 2
2t i. FCP = ii. FCP = mr2
i.  = t ii.  = r
T 42 mr
iii.  = 2nt iii. FCP = 42 mrn2 iv. FCP = T 2
v. FCP = mg = m2r
3 Angular acceleration:
2  1 2
i.  = ii.  = (n2 – n1) 8 Centrifugal force: FCF = FCP
t t
 v2 
4 Linear velocity: 9 Inclination of banked road:  = tan1  
 rg 
i. v = r ii. v = 2nr

Important Formulae
10 On unbanked road: 13 Conical Pendulum:
g
i. Maximum velocity of vehicle to avoid skidding on a i. Angular velocity of the bob of conical pendulum,  = L cos 
curve unbanked road: vmax = rg L cos 
ii. Period of conical pendulum, T = 2 g
 v2 
ii. Angle of leaning:  = tan–1  
 rg 
14 For mass tied to string:
i. Minimum velocity at lowest point to complete
11 On banked road: V.C.M: vL = 5rg
 μ  tan θ 
i. Upper speed limit: vmax =
rg  s  ii. Minimum velocity at highest point to complete
1  μ s tan θ 
V.C.M: vH = rg
 tan θ  μ s 
rg  
ii. Lower speed limit: vmin = 1  μ s tan θ  iii. Minimum velocity at midway point to complete in
V.C.M: vM = 3rg
rg tan  (in absence of friction) mv 2H
iii. vmax = T
iv. Tension at highest point in V.C.M: H =
r – mg
mv 2m
v. Tension at midway point in V.C.M: T M =
r
12 Height of inclined road: h = l sin  mv 2L
vi. Tension at lowest point in V.C.M: TL = + mg
r
vii. Difference between tension at lower most and
uppermost point: TL – TH = 6 mg
Important Formulae
n
15 Moment of Inertia: I = m r
i 1
i i
2
=  dmr
2
20 Torque acting on a body:
dL
i.  = I =
dt
I
16 Radius of gyration: K = d  n n 
M ii.  = I = 2I  2 1 
dt  t 
17 Kinetic energy:
1 1 21 Angular momentum of a body: L = I = I(2n)
i. K.E = I2 = I (2n)2
2 2
1
ii. K.Etranslational = Mv2
2 22 From principle of perpendicular axes: IZ = IX + IY
1 1  K2 
iii. K.Erolling = [Mv2 + I2] = Mv2 1 2 
2 2  R 
23 From principle of parallel axes: Io = Ic + Mh2
2gh
K2
18 Velocity of rolling body: v = 1 2 24 From principle of conservation of angular momentum:
R
i. I11 = I22 ii. I1n1 = I2n2
g sin θ
19 Acceleration of rolling body: a = K2
1 2
R

Chapter at a Glance
Rolling motion
1  K2 
Physical Parallel axes Perpendicular Total energy, E = Mv2 1  R 2 
2  
quantities theorem axes theorem 2gh
 K2 
• I = mr2 Statement: The moment of Statement: The moment of Velocity, v = 1  2 
R 

1
• K.E. = I2 inertia (Iz) of a laminar object inertia (Iz) of a laminar object
2 gsin 
about an axis (z) perpendicular about an axis (z) perpendicular to Acceleration, a =  K2 
•  = I to its plane is the sum of its its plane is the sum of its moment 1  2 
 R 
• L = I moment of inertias about two of inertias about two mutually Useful values:
• K=
I mutually perpendicular axes perpendicular axes (x and y) in  K2  2 K 
2
M  2   2 = 1,
(x and y) in its plane, all the its plane, all the three axes being  R Solid R
5  hollow
sphere cylinder
three axes being concurrent, concurrent, Iz = Ix + Iy
 K2  1  K2  2
Iz = Ix + Iy  2  ;  2 
 R Solid 2  R sphere
hollow 3
Cylinder
Rotational Motion
Rotational Dynamics
Circular Motion

Chapter at a Glance
Circular Motion
Uniform Circular Motion Banking of road Conical Pendulum Vertical Circular Motion
Angular frequency, 5rg
g
At lowest point: vL =
Centripetal force Unbanked road  = L cos  mv 2L
Maximum possible speed, TL = + mg
Centripetal force is directed Time Period, r
along the radius towards the vmax = s rg L cos 
centre of a circle. T = 2 g At highest point: vH = rg
In vector form, it is given by Rider should bend through an Frequency, mv 2H
angle,  = tan1  v   mg
2
 mv 2 TH =
 rg  r
F =– r̂0 1
n = 2
g
r Lcos 
Minimum safest velocity of a At midway point: vM = 3rg
body for move in well of
Centrifugal force rg Difference between tension at lower
death, vmin = s most and uppermost point:
Centrifugal force is directed
along the radius away from TL – TH = 6 mg
the centre of a circle. Banked road
In vector form, it is given  v2 
2
Angle of banking:  = tan–1  
 mv  rg 
by, F = + r̂0
r
Most safe speed, vs = rg tan θ
 tan   s   tan   s 
rg   rg  
vmin =  1  s tan   ; vmax =  1  s tan  

THANK YOU
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Rotational Dynamics

Without option 05 marks

Std 12th Physics_01 Rotational Dynamics 02

Std 12th Physics_01 Rotational Dynamics 03

The motion of an object around a point, especially

The motion of an object about an axis of rotation

Std 12th Physics_01 Rotational Dynamics 04

Characteristics of circular motion

Accelerated motion: As the direction of velocity changes

Periodic motion: During the motion, the particle repeats

Std 12th Physics_01 Rotational Dynamics 05

Kinematics of circular motion

Std 12th Physics_01 Rotational Dynamics 06

Uniform Circular Motion

Uniform Circular Motion

The acceleration responsible for U.C.M. is the centripetal or

It is always directed towards the centre of the circular motion

Example: Circular motion of any particle of a fan rotating uniformly.

Std 12th Physics_01 Rotational Dynamics 07

Non- Uniform Circular Motion

During circular motion if the speed of the particle varies, it is

The velocity is tangential.

Std 12th Physics_01 Rotational Dynamics 08

Centripetal and Centrifugal force:

Sr. No. Centripetal force Centrifugal force

ii. It is a real force. It is a pseudo force.

Std 12th Physics_01 Rotational Dynamics 09

Q The angular speed of the second hand of a watch is

Std 12th Physics_01 Rotational Dynamics 10

Std 12th Physics_01 Rotational Dynamics 11

Vehicle Along a Horizontal Circular Track

Forces acting on the car N

The normal reaction balances the weight

The frictional force balances the centrifugal force.

For a given track, radius r is constant. N

At the maximum possible speed, C fS

Std 12th Physics_01 Rotational Dynamics 13

Well or (Wall) of death

The forces acting on the vehicle (assumed to be a point) are:

It is static friction because it has to prevent the downward slipping.

Std 12th Physics_01 Rotational Dynamics 14

 The minimum safest velocity of a body to move in well of death is,

Std 12th Physics_01 Rotational Dynamics 15

Vehicle on a Banked Road

The forces acting on the vehicle are: N N cos

Std 12th Physics_01 Rotational Dynamics 16

The vertical component N cosθ balances the weight,

This is an expression for angle of banking when a vehicle moves

Std 12th Physics_01 Rotational Dynamics 17

Vehicle on a Banked Road

The Horizontal component (fscosθ ) is parallel and opposite to Nsinθ.

Std 12th Physics_01 Rotational Dynamics 18

For s  tan, vmin = 0.

Std 12th Physics_01 Rotational Dynamics 19

If μs = cotθ, vmax = ∞. But (μs)max = 1. Thus, for θ ≥ 45, vmax = ∞.

The tension (T0) in the string is resolved into r

Std 12th Physics_01 Rotational Dynamics 21

The vertical component (T0 cosθ) balances the weight ‘mg’.

The horizontal component T0 sinθ then becomes the resultant