UNIT 3 — ROTATIONAL DYNAMICS &
OSCILLATORY MOTION
1. Kinematics of Rotation —
For a rigid body rotating about a fixed axis (z-axis):
Angular displacement: θ(t)(radians)
dθ
Angular velocity: ω= dt (rad/s)
2
dω d θ
Angular acceleration: α = =
dt d t 2
(rad/s²)
For a point at distance r from axis:
Linear (tangential) speed: v=rω
Tangential acceleration: a t=rα
Centripetal (radial) acceleration: a r=r ω 2
2. Torque (Moment of a Force)
Definition: Torque (vector) τ =r × F . Its magnitude about an axis: τ =rF sin ϕ ,
where ϕ is angle between r and F .
SI units: N·m
Positive/negative sign depends on sense (use right-hand rule).
Torque causes angular acceleration.
Rotational analogue of Newton’s 2nd law (for rigid body about fixed axis):
τ net=I α
where I is moment of inertia about the axis.
3. Angular Momentum
For a single particle: L=r × p=r ×m v .
For a rigid body rotating about an axis through origin:
If motion purely rotational with angular velocity ωabout axis and
body’s inertia I :
L=I ω
(If rotation axis not principal or mass distribution complex, Lmay not
be parallel to ω.)
Rate of change law:
dL
=∑ τ ext
dt
(External torque equals time rate of change of angular momentum.)
Conservation: If ∑ τ ext =0, then Lis constant.
Examples:
Ice skater pulling arms in: moment of inertia decreases, angular
speed increases so Lconserved.
Planetary motion (about center): negligible external torque →
orbital angular momentum conserved.
4. Moment of Inertia (I)
Definition: Rotational analogue of mass; measures resistance to
angular acceleration.
For discrete masses miat distances r ifrom axis:
I =∑ ❑m i r i
2
For continuous mass distributions:
2
I = ∫ r dm
Physical interpretation: More mass far from axis → larger I .
4.1 Common moments of inertia (about symmetry/principal axes)
(Useful formulas to memorize for exams)
Thin rod length L, about center (axis perpendicular to rod
1
through center): I = 12 m L
2
1
Thin rod about one end: I = 3 m L
2
Thin circular ring radius R(about central axis): I =m R 2
1
Solid disk (or cylinder) radius Rabout central axis: I = 2 m R
2
2
Solid sphere radius R: I = 5 m R
2
2
Hollow (thin) sphere: I = 3 m R
2
These are for axes through center.
Derivation example:
L/ 2 L/ 2 3 L/2 3
m x m L 1
I = ∫ ❑ x dm=λ ∫
2 2 2
❑ x dx= [ ] = ⋅ = mL .
− L/2 −L/ 2 L 3 − L/2 L 12 12
4.2 Parallel Axis Theorem (statement & use)
Statement: If I cmis moment of inertia about an axis through center of
mass, then moment about a parallel axis distance d away is
2
I =I cm + M d
Use: To get I about convenient axis (e.g., rod about end from center
value).
4.3 Perpendicular Axis Theorem (statement)
Statement: For a planar lamina (thin flat object) lying in the xy plane,
moment about the perpendicular z -axis:
I z =I x + I y
(provided axes intersect at same point and are perpendicular).
Note: Valid only for flat 2-D plates.
5. Rotational Kinetic Energy & Energy Relations
Rotational kinetic energy: for rigid body rotating about fixed axis:
1 2
K rot = I ω
2
If a rolling object without slipping (radius R):
Total kinetic energy = translational +¿rotational:
1 2 1 2
K total= M v + I ω
2 2
with no-slip v=ωR .
Example: solid cylinder rolling down incline: compare acceleration
with hollow cylinder.
Quick result: For rolling without slipping down incline (no slip, no
frictional loss):
g sin θ
a=
I
1+ 2
MR
So larger I /( M R 2)→ smaller acceleration.
6. Calculations of I — discrete & continuous (1-D
and 2-D)
6.1 Discrete mass example (two masses)
Two masses m1 ,m2at distances r 1 , r 2:
2 2
I =m1 r 1+ m2 r 2
Simple exercise: mat ±d from center → I =2 m d2.
6.2 Continuous 2-D: circular disk
m
Take disk, radius R, surface mass density σ = π R2 . Using concentric ring
method:
2 2
dI =r (dm)=r (σ ⋅2 πr dr)
Integrate r =0to R:
R 4
R 1
I =2 πσ ∫ ❑r dr=2 πσ
3 2
= mR .
0 4 2
7. Conservation of Angular Momentum —
examples & application
Condition: No external torque about the axis of interest.
Applications/Examples:
Skater, as above: L=Iω=constant .
Planetary motion: central force → torque about central body is
zero → orbital angular momentum conserved L=mr 2 θ̇ .
Collisions where external torque negligible → use angular
momentum conservation to find post-collision spin/rotation.
Problem idea: A mass sliding on frictionless rod attached to rotating
hub — radial motion changes I and therefore ω.
8. Simple Harmonic Motion (SHM)
Concept: Motion where acceleration is proportional to negative of
displacement:
2
ẍ +ω 0 x=0
where ω 0is natural angular frequency.
8.1 Mass–Spring system (ideal)
Mass mconnected to spring constant k :
Restoring force F=−kx .
Newton: m ẍ=−kx → equation:
k
ẍ + x =0
m
∴ ω 0=
√ k,
m
period T =2 π /ω0 =2 π √ m/k .
General solution:
x (t)= A cos ( ω0 t+ ϕ)
Velocity: v (t)=− A ω 0 sin (ω0 t+ ϕ).
Energy in SHM:
1 2 1 2 2
E= k A = m ω0 A
2 2
Instantaneous energies:
1 2
KE= m v
2
1 2
PE= k x
2
Total constant.
Phase relation: KE and PE are 90° out of phase.
8.2 Simple pendulum (small oscillations)
For small angular displacement (θ small, sin θ ≈ θ):
Equation for pendulum length L:
g
mL θ̈=−mg sin θ ≈−mgθθ̈+ θ=0
L
Natural frequency: ω 0=
√ g
L
, Period:
T =2 π
√ L
g
Note: Period independent of mass and small amplitude (isochronous
approx.
Common error: Using T =2 π √ L/ gfor large amplitude — it's
approximate; amplitude dependence appears for larger θ.
9. Damped Harmonic Oscillator
Equation (linear damping):
m ẍ+b ẋ + kx=0
where bis damping coefficient (units N·s/m).
b
Rewrite with ω 20=k /mand damping ratio γ = 2 m :
2
ẍ +2 γ ẋ +ω 0 x=0
Solution types:
1. Underdamped (γ <ω 0): oscillatory with exponentially decaying
amplitude:
−γt
x (t)= A e cos (ωd t +ϕ )
where ω d= √ω 20−γ 2.
2. Critically damped (γ =ω0): fastest return to equilibrium without
oscillation:
−ω0t
x (t)=(C 1+C 2 t)e
3. Overdamped (γ >ω 0): non-oscillatory, slow return:
(−γ + √ γ −ω0)t (−γ − √ γ −ω0 )t
2 2 2 2
x (t)=C1 e +C 2 e
Physical examples:
Underdamped: mass on spring with light friction.
Critically damped: door closer (optimal damping to avoid
oscillation).
Overdamped: very viscous medium.
Energy: Damping dissipates mechanical energy → amplitude decays.
10. Forced Oscillations & Resonance
Equation with driving force F 0 cos ωt :
m ẍ+b ẋ + kx=F 0 cos ωt
Steady-state amplitude is maximum when driving frequency near
natural frequency (resonance), amplitude limited by damping.
11. Worked numerical example
Example 1: Moment of inertia of uniform rod length L=1.2m, mass
m=2.0 kg, about center.
1 2 1
I= m L = × 2.0× ¿
12 12
Example 2: Mass–spring: m=0.5 kg, k =200N/m. Find ω 0and T .
√ √
k 200 2π 2π π
ω 0= = =√ 400=20 rad / s .T = ω = 20 = 10 ≈ 0.314 s .
m 0.5 0