PHYSICS 1: MECHANICS

Phan Hiền Vũ
Department of Physics IU VNU-HCM
Office: A1.503
Email: phvu@[Link]
 Part C Dynamics and Statics of Rigid Body

Chapter 5 Rotation of a Rigid Body About a Fixed Axis

5.1. Rotational Variables
5.2. Rotation with Constant Angular Acceleration
5.3. Kinetic Energy of Rotation, Rotational Inertia
5.4. Torque, and Newton’s Second Law for Rotation
5.5. Work and Rotational Kinetic Energy
5.6. Rolling Motion of a Rigid Body
5.7. Angular Momentum of a Rotating Rigid Body
5.8. Conservation of Angular Momentum

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 Overview

• We have studied the motion of translation, in which objects move

along a straight or curved line.
• In this chapter, we will examine the motion of rotation, in which
objects turn about an axis.

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5.1. Rotational variables

We study the rotation of a rigid body about a fixed axis.

Rigid bodies: Bodies can rotate with all its parts locked together and
without any change in its shape.
Fixed axis: A fixed axis means the rotational axis does not move.

Angular Position
Reference line: To determine the angular
position, we must define a reference line,
which is fixed in the body, perpendicular to
the rotation axis and rotating with the body.
The angular position of this line is the angle
of the line relative to a fixed direction.
s
=
r
 : radians (rad) 1 rev = 3600 = 2 rad

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Angular Displacement

 =  2 − 1
Convention:
•  > 0 in the counterclockwise direction.
•  < 0 in the clockwise direction.

Angular Velocity
 2 − 1 
Average angular velocity: avg = =
t2 − t1 t
 d
Instantaneous angular velocity:  = lim =
t →0 t dt
Unit: rad/s or rev/s or rpm; (rev: revolution)

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Angular Acceleration
Average angular acceleration:

2 − 1 
 avg = =
t 2 − t1 t
Instantaneous angular acceleration:

 d
 = lim =
t →0 t dt
Unit: rad/s2 or rev/s2

Note: Angular displacement, velocity, and acceleration can be treated

as vectors.

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5.2. Rotation with Constant Angular Acceleration
dx dv
For one dimensional motion: v= ; a=
dt dt
Let’s change variable names: x →  , v → , a → 
 =  0 + t
1 2
 =  0 +  0 t + t
2
 2 − 02 = 2 ( −  0 )
where  in radian measure

Checkpoint: In four situations, a rotating body has angular position

(t) given by (a) =3t-4, (b) =-5t3+4t2+6, (c) =2/t2-4/t, and (d)
=5t2-3. To which situations do the angular equations above apply?

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5.3. Kinetic Energy of Rotation
a. Linear and Angular Variable Relationship
• The position: s = r
where angle  measured in rad; s: distance
along a circular arc; r: radius of the circle
ds d v =r
• The speed: = r →
dt dt
2r 2
The period of revolution: T = =
v 
dv d
• The Acceleration: = r
dt dt
Tangential acceleration: at =  r
v2
Radial acceleration: ar = =  r
2
r
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b. Kinetic Energy of Rotation:

The KE of a rotating rigid body is calculated by adding up the

kinetic energies of all the particles:

1 1 1 1
K = m1v1 + m2v2 + m3v3 + ... =  mi vi2
2 2 2
2 2 2 2
1 1 2
K =  mi (i r ) =   mi ri
2 2
2 2
I =  mi ri2 : Rotational Inertia (or moment of inertia),

Unit for I: kg m2

1 2
K = I
2
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c. Calculating the Rotational Inertia:

• If the rigid body consists of a few particles:

I = å mi ri2
• For continuous bodies:

I =  r 2 dm
• Parallel-Axis Theorem: The theorem allows us to calculate I of a
body of mass M about a given axis if we already know Icom:

I = I com + Mh 2

h: the perpendicular distance between the given axis and the axis
through the center of mass of the body.

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Table 10-2 Some Rotational Inertias

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5.4. Torque, and Newton’s Second Law for Rotation
a. Torque (“to twist”):


F
f

Rotation axis

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   
 =rF (Unit: N.m)

 = r ( F sin  ) = rFt 
 = ( r sin  ) F = r⊥ F r⊥ : the moment arm of F

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Direction of torque: Use the right hand rule to determine


F f


F
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Important Note: Torque is a vector quantity, because we consider only
rotation around a single axis, we therefore do not need vector notation.
Instead, a torque is a positive value if it would produce a counter-
clockwise rotation and a negative value for a clockwise rotation.

counterclockwise f1
f2

t net = t 1 - t 2 = F1r1 sin f 1 - F2 r2 sin f 2

clockwise
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Checkpoint: A meter stick can pivot about the dot at the position
marked 20 (cm). All five forces on the stick are horizontal and have the
same magnitude. Rank the forces according to their torque magnitude,
greatest first.

0 20 40 100

F5

   F4
F1 F2 F3

Line of action

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b. Newton’s Second Law for Rotation
• We consider a simple problem, the
rotation of a rigid body consisting of a
particle of mass m on one end of a
massless rod.
Ft = mat (at: tangential acceleration)

• The torque acting on the particle:

 = Ft r = m at r
 = m ( r ) r = ( m r 2 )
: angular acceleration
 = ( m r 2 ) = I  (radian measure) I: Rotational Inertia

• if more than one force applied to the particle:  net = I 

• This equation (Newton’s second law for rotation) is valid for any
rigid body rotating about a fixed axis.
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5.5. Work and Rotational Kinetic Energy
We consider a torque of a force F accelerates a rigid body in rotation
about a fixed axis:

• The work-kinetic theorem applied for rotation of a rigid body:

1 2 1 2
 K = K f − K i = I f − I i = W
2 2
f
• The work done by the torque:  K =  d 
i

• If  is a constant: W =  ( f −  i )

dW
• The power: P= = 
dt
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Problem 50: If a 40.0 N.m torque on a wheel causes angular
acceleration 25.0 rad/s2, what is the wheel’s rotational inertia?

 = I
 = 40.0 N m;
 = 25.0 rad/s 2

 40.0
I= = = 1.6 ( kg m )
2

 25.0

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 Part C Dynamics and Statics of Rigid Body

Chapter 5 Rotation of a Rigid Body About a Fixed Axis

5.1. Rotational Variables
5.2. Rotation with Constant Angular Acceleration
5.3. Kinetic Energy of Rotation, Rotational Inertia
5.4. Torque, and Newton’s Second Law for Rotation
5.5. Work and Rotational Kinetic Energy
5.6. Rolling Motion of a Rigid Body
5.7. Angular Momentum of a Rotating Rigid Body
5.8. Conservation of Angular Momentum

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5.6. Rolling Motion of a Rigid Body

We consider a rigid body smoothly rolling along a surface. Its motion

consists of two motions: translation of the center of mass and rotation
of the rest of the body around that center.
Example: A bike wheel is rolling along
a street. During a time interval t, both
O (the center of mass) and P (the
contact point between the wheel and
the street) move by a distance s:

s = R
where R is the radius of the wheel.
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• The speed of the center of the wheel: v com =  R
• The linear acceleration of the center of the wheel: a com =  R

• The Kinetic Energy of Rolling

1 1
K = I com + Mv com
2 2
2 2
Rotational KE Translational KE
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Examples:
1. Rolling on a horizontal surface: A 2.0 kg wheel, rolling smoothly on a
horizontal surface, has a rotational inertia about its axis I = MR2/2, where M is
its mass and R is its radius. A horizontal force is applied to the axle so that the
center of mass has an acceleration of 4.0 m/s2. What is the magnitude of the
frictional force of the surface acting on the wheel? (Final exam, June 2014)
(for )

+
Fap p lied
• Applying Newton’s second law for  +
rotational motion: fs (for acom,x)
 net = − Rf s = I com  (1)
a com , x  0 (in the positive direction of the x axis)
  0 (clockwise )
a com , x = − R (2)
(1), (2):
 MR 2 a com , x Ma com , x 2  4 .0
f s = − I com = = = = 4 .0 (N)
R 2 R 2 2 2
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2. Rolling Down a Ramp: We consider a rigid body smoothly rolling
down a ramp.
Force analysis: Fg, FN, and fs (opposing the
sliding of the body, so the force is up the ramp)
• Applying Newton’s second law for
translational motion:
f s − Mg sin  = Macom , x (1)
• Applying Newton’s second law for
rotational motion:
 net = Rf s = I com (2)
acom , x  0 (in the negative direction of the x axis)
  0 (countercl ockwise)
a com , x = − R (3) g sin 
 acom , x =−
I com
(1), (2), (3): 1+
MR 2
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3. The Yo-Yo:
For translation motion:
T − Mg = Macom , y (1)
For rotational motion:
 = R0T = I com (2) y
a com , y = − R0 (3)
g
 acom, y = −
I com
1+
MR02

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4. Pulley: A 10.0 kg block hangs from a cord which is wrapped around the rim
of a frictionless pulley. Calculate the acceleration, a, of the block as it moves
down? (The rotational inertia of the pulley is 0.50 kg m2 and its radius is 0.10
m). (Final exam, January 2014)

• For translation motion:

mg − T = ma (1)
+
• For rotational motion:

 = − R 0 T = I p ulley (2) T

a = −  R 0 (3) T a
(Note: a is the acceleration of the block,  is the angular
acceleration of the pulley)

mg 10  9.8 mg
a= =  1.63 ( m/s 2 )
I p ulley 0 .5
m+ 10 +
2 0 . 12
R
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Example: (The Kinetic Energy of Rolling) A 10 kg cylinder rolls without
slipping. When its translational speed is 10 m/s, What is its translational
kinetic energy, its rotational kinetic energy, and its total kinetic energy?

• The rotational inertia of a cylinder about central axis:

1 2
I= MR
2
• Translational kinetic energy:
1 1
K t = Mv = 10  10 2 = 500 (J)
2

2 2
• Rotational kinetic energy:
2
1 2 11 2  v  1
K r = I =  MR   = Mv 2
2 22  R  4
K r = 250 (J)
• Total kinetic energy Or The Kinetic Energy of Rolling:
K = K t + K r = 750 (J)
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5.7. Angular Momentum of a Rotating Rigid Body

a. Angular Momentum of a Particle:

    
l = r  p = m(r  v )


l

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l = rmv sin  (Unit: kg m2 s-1)

or

l = r⊥ p = rp ⊥ 
l

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Newton’s Second Law in Angular Form for a Particle:
 
dp
For translational motions: Fnet =
 dt
   dp
r  Fnet = r 
dt 
  dv  
 net = m ( r  + v  v )
dt
    
  dv dr  d ( r  v ) dl
 net = m ( r  +  v ) = m =
dt dt dt dt

 dl
So, Newton’s Second Law in Angular Form:  net =
dt

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b. Angular Momentum of a System of Particles:
     n
L = l1 + l2 + l3 + ... + ln =  li
i =1

Newton’s Second Law in Angular Form:


 dL
 net =
dt
c. Angular Momentum of a Rotating Rigid
Body:
Method: To calculate the angular
momentum of a body rotating about a
fixed axis (here the z axis), we evaluate
the angular momentum of a system of
particles (mass elements) that form
the body.

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 
li

liz

li = ri p i sin 90 0 = ri  m i vi
li , z = li sin  = ( ri sin  )(  m i vi ) = r⊥ i  m i vi
n n n
Lz =  li , z =  mi vi r⊥i =  mi ( r⊥i )r⊥i
i =1 i =1 i =1
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 n
Lz =   mi r⊥2i
i =1

Lz = I z I z : rotational inertia of
the body about the z axis

we drop the subscript z:

L = I
Note: L and I are the angular momentum and the rotational inertia
of a body rotating about the same axis.

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5.8. Conservation of Angular Momentum

 dL
 net =
dt
If no net external torque acts on the system: t net = 0

L = constant
 
Li = L f

I i i = I f  f

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 Example: You stand on a frictionless platform that is rotating at an
angular speed of 1.5 rev/s. Your arms are outstretched, and you hold
a heavy weight in each hand. The moment of inertia of you, the
extended weights, and the platform is 6.0 kg.m2. When you pull the
weights in toward your body, the moment of inertia decreases to 1.8
kg.m2. (a) What is the resulting angular speed of the platform? (b)
What is the change in kinetic energy of the system? (c) Where did this
increase in energy come from?
(a) No net torque acting on the rotating system (platform+you+weights):
I11 6 .0  1 .5
I = constant  I11 = I 2  2   2 = = = 5 (rev/s)
I2 1 .8
(b) The change in kinetic energy:

2
2 1
2
2 1
2
 
 K = I 2  2 − I11 = 1 .8  (5  2 )2 − 6 .0  (1 .5  2 )2  621 (J)
1

(c) Because no external agent does work on the system, so the increase
in kinetic energy comes from your internal energy (biochemical energy
in your muscles).

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More Corresponding Variables and Relations for Translational and
Rotational

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Homework:
▪ 5, 13, 38, 50, 53, 56, 61 in Chapter 10 Textbook
▪ 26, 38, 52 in Chapter 11 Textbook

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