AP Physics C: Mechanics

Unit 5: Rotation

Section 5.1 – Rotational Kinematics…………………………….…………………………………..….………..74

Section 5.2 – Calculating Moment of Inertia ………………………………...……….………………..…..……76

Section 5.3 -Torque……………………………………………………….…………………………………..….80

Section 5.4 – Work & Energy in Rotation…………………………………………………….…………………83

Section 5.5 – Angular Momentum ………………………………………………………………………………88

Section 5.6 – Static Equilibrium ………………………………………………………………...............………91

73
AP Physics C: Mechanics Unit 5 - Rotation
5.1 Rotational Kinematics (Chapter 10)
Focus Question: How are displacement, acceleration, and velocity related?
Angular Displacement
-Angular displacement of a point that rotates about an axis (that is perpendicular to the plane of the
page) is an angle measured in radians.
Units of angular displacement: radians
*𝝅 𝒓𝒂𝒅 = 𝟏𝟖𝟎°
-Relationship between angular displacement and linear distance traveled – For an
angle given in radians, the linear distance is equal to the arc length:

𝒔 = 𝒓𝜽

Angular Velocity
 Suppose an object rotates from 𝜃 at 𝑡 to 𝜃 at 𝑡 :
𝜽𝟐 − 𝜽𝟏 ∆𝜽
𝝎𝑨𝑽𝑮 = =
𝒕𝟐 − 𝒕𝟏 ∆𝒕
∆𝜽 𝒅𝜽
𝝎 = 𝐥𝐢𝐦 =
∆𝒕→𝟎 ∆𝒕 𝒅𝒕

*Since the object is rigid, any point on the object will rotate at the same rate. However, they will not all have
the same linear speed.
 Relationship between angular velocity and linear velocity -
𝒔 𝒓𝜽
𝒗= = = 𝝎𝒓
∆𝒕 ∆𝒕

Angular Acceleration
 If angular velocity changes, an angular acceleration exists:
𝒅𝝎 𝒅𝟐 𝜽
𝜶= = 𝟐
𝒅𝒕 𝒅𝒕

*Relationship between linear and angular displacement: 𝒂 = 𝒓𝜶

Example A: For a spinning object, 𝛼(𝑡) = −4𝑡. If 𝜔(0) = 8 𝑟𝑎𝑑/𝑠 and 𝜃(0) = 10𝜋 𝑟𝑎𝑑, find angular
velocity and position as functions of time.

𝜔(𝑡) = 𝛼(𝑡)𝑑𝑡 = (−4𝑡)𝑑𝑡 → 𝜔(𝑡) = −2𝑡 + 𝐶 → 𝐶 = 8

𝝎(𝒕) = −𝟐𝒕𝟐 + 𝟖
2
𝜃(𝑡) = 𝜔(𝑡)𝑑𝑡 = (−2𝑡 + 8)𝑑𝑡 → 𝜃(𝑡) = − 𝑡 + 8𝑡 + 𝐶 → 𝐶 = 10𝜋
3
𝟐
𝜽(𝒕) = − 𝒕𝟑 + 𝟖𝒕 + 𝟏𝟎𝝅
𝟑

74
Example B: The wheel in the sky keeps on turning. I don’t know where I’ll be tomorrow. The wheel starts from
rest and accelerates at a rate of 1.5 rad/s2. The wheel has a radius of 0.9 m and makes three complete turns.

a) Find the angular velocity of the wheel once it has completed three turns.

b) Find the linear speed of a point on the edge of the wheel.

c) Find the linear speed of a point halfway to the wheel’s edge.

The point halfway to the wheel’s edge travels less distance in one rotation, so its linear speed is slower. Both
points have the same rotational speed though, as they both go through 2𝜋 in the same unit of time.

d) Find the tangential acceleration and radial acceleration of a point on the edge of the wheel.

75
AP Physics C: Mechanics Unit 5 - Rotation
5.2 Calculating Moment of Inertia (Chapter 10)
Focus Question: How are displacement, acceleration, and velocity related?
Physics 1 Review
 In linear motion, inertia is the ability of an object to resist changes in motion as a result of force. Inertia
is based only on mass.
 In rotational motion, both mass and shape determine resistance to rotation due to force. In general, more
mass further from the axis of rotation leads to more resistance to rotation.
Ex: A hollow sphere will resist rotation more than a solid sphere is both have the same mass.
 For a point mass 𝐼 = 𝑟 𝑚.

Example A: An Olympic ice skater is spinning and pulls her arms in to speed up her spin. Explain how this is
possible with physics.

It's harder to make a given mass rotate around an axis that it's far from than one that it's close to.

When the skater pulls her arms in, she brings more of her mass closer to the center of axis of rotation,
thus increasing her angular acceleration.

Calculate moment of inertia when an object is pivoted at its center of mass.

To calculate moment of inertia, divide the object into small particles, each of mass
∆𝑚 at a distance 𝑟 from the axis of rotation.
𝐼= 𝑟 𝑑𝑚
*For point mass*
𝐼 = 𝑚𝑟

*Units of moment of inertia: 𝑘𝑔 𝑚

Example B: Moment of Inertia for a rod with an axis perpendicular to the rod.

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𝐼= 𝑥 𝑑𝑚 → 𝐼 = 𝑥 (𝜆𝑑𝑥)

𝐿−𝑎
→ 𝐼 = 𝜆∫ 𝑥 𝑑𝑥 → 𝐼 = 𝜆 | *𝜆 = 𝑀/𝐿
−𝑎
𝑀 (𝐿 − 𝑎) (−𝑎)
→𝐼= −
𝐿 3 3

𝑀
→𝐼= (𝐿 − 3𝐿 + 3𝐿𝑎 − 𝑎 + 𝑎 )
3𝐿
𝑴 𝟐
→𝑰= (𝑳 − 𝟑𝑳𝒂 + 𝟑𝒂𝟐 )
𝟑

*If rod is pivoted at end (a=0):

𝑀 𝟏
𝐼= (𝐿 − 0 + 0) → 𝑰 = 𝑴𝑳𝟐
3 𝟑
*If rod is pivoted at center: (a=L/2)

𝑀 𝐿 𝐿 𝑀 3 3 𝟏
𝐼= 𝐿 − 3𝐿 +3 →𝐼= 𝐿 − 𝐿 + 𝐿 →𝑰= 𝑴𝑳𝟐
3 2 2 3 2 4 𝟏𝟐

Example C: Cylinder about an axis through its center.

𝐼 = ∫ 𝑟 𝑑𝑚

*dm=𝜌𝑑𝑉 𝜌 = 𝑣𝑜𝑙𝑢𝑚𝑒 𝑚𝑎𝑠𝑠 𝑑𝑒𝑛𝑠𝑖𝑡𝑦

dV=d(𝜋𝑟 𝐿) = 2𝜋𝑟𝐿𝑑𝑟 L = length of cylinder (needs to cancel

eventually, does not affect I)

𝐼= 𝑟 (𝜌2𝜋𝑟𝐿𝑑𝑟) → 𝐼 = 𝜌2𝜋𝐿 𝑟 𝑑𝑟

𝑟 𝑅 𝜌𝜋𝐿
→ 𝐼 = 𝜌2𝜋𝐿 →𝐼= (𝑅 − 𝑅 )
4 𝑅 2

𝑀 = 𝜌𝑉, so 𝜌 = = . Substituting this and using difference of squares:

( )

𝑀 𝜋𝐿 𝑴
→𝐼= (𝑅 − 𝑅 )(𝑅 + 𝑅 ) → 𝑰 = ( 𝑹𝟐𝟏 + 𝑹𝟐𝟐
𝜋𝐿(𝑅 − 𝑅 ) 2 𝟐

77
Example D: Moment of inertia of “point masses” on another object about the center:

This system consists of 3 objects:

A rod of length L and mass m pivoted about its center: 𝐼 = 𝑚𝐿

2 spheres at a distance of L/2 from the center of rotation. Both can be treated as a point masses:

𝐿 1
𝐼=𝑀 →𝐼= 𝑀𝐿
2 4
The total moment of inertia is the sum of the three individual moments of inertia:

1 1
𝐼= 𝑚𝐿 + 2 𝑀𝐿
12 4
𝟏 𝟏
→𝑰= 𝒎𝑳𝟐 + 𝑴𝑳𝟐
𝟏𝟐 𝟐

Apply the parallel-axis theorem.

If an object is not pivoted at its center of mass, the moment of inertia can be found using the moment of inertia
about the object’s center of mass:

𝟐
𝒑 𝒄𝒎

Ip : Moment of inertia about an axis parallel to central axis.

Icm: Moment of inertia about center of mass.
m: mass
d: distance between axes
*Ip is always greater than Icm*

78
Example E: Consider a solid cylinder of radius R and mass M. Find the moment of inertia of a solid cylinder of
radius R and mass M about:

a) Its center

The result of example C for a cylindrical shell: 𝐼 = ((𝑅 + 𝑅 )

For a solid cylinder, the inner radius is zero: R1=0:

𝑀 𝟏
𝐼= (𝑅 ) = 𝑴𝑹𝟐
2 𝟐
b) An axis tangents to the cylinder at its outer edge.

𝐼 =𝐼 + 𝑀𝑑

1
→ 𝐼 = 𝑀𝑅 + 𝑀𝑅
2
𝟑
→𝑰 = 𝑴𝑹𝟐
𝟐

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AP Physics C: Mechanics Unit 5 - Rotation
5.3 Torque (Chapter 10)
Focus Question: What is Newton’s 2nd Law for Rotation?
Physics 1 Review
 In linear motion, force causes a change in velocity (acceleration). In rotation, both force and the distance
of the force from the axis of rotation cause a change in angular velocity.
 Torque is the tendency of a force to cause rotation of the body on which it acts.
 Torque depends on both force and the distance of the force’s application to the axis of rotation. It is
easier to rotate an object about an axis when the force is applied further from the axis.

Calculate torque.

 Torque is computed relative to the axis of rotation:

𝝉 = 𝑭𝒓
r: moment arm (perpendicular distance between F and axis of rotation)

*By the right-hand rule convention for torque, counter-clockwise torque about a pivot is defined as positive.
Units of Torque: Nm

𝝉𝑵𝑬𝑻 = 𝑭𝟏 𝒓𝟏 − 𝑭𝟐 𝒓𝟐

 When force acts along the line that contains the axis of rotation: The force does not cause
rotation and the torque is zero.

 When the force acts at an angle with the axis of rotation, only the component of the force perpendicular
to the axis of rotation causes a torque
𝜏 = 𝑟(𝐹 sin 𝜃)
*Torque is the cross product of the force and moment arm vectors:

𝝉⃑ = 𝒓⃗ 𝒙 𝑭⃗
Example A: The body shown is pivoted at O, and two forces act on it as
shown. Find the net torque on the body about the pivot O.
The torque from F1 is counter-clockwise about 0, making this torque
positive. The torque from F2 is clockwise (negative).

𝝉 = 𝑭𝟏 𝒓𝟏 𝐬𝐢𝐧 𝜽𝟏 − 𝑭𝟐 𝒓𝟐 𝐬𝐢𝐧 𝜽𝟐

80
Apply Newton’s 2nd Law for Rotation.

Newton’s 2nd Law for Rotation – Angular acceleration is directly proportional to applied torque and inversely
proportional to moment of inertia:

𝝉 = 𝑰𝜶

Example B: The system below is released from rest. Find the initial angular acceleration.

By the right-hand rule convention for torque, counter-clockwise

torque about a pivot (due to the smaller mass in this case) is defined
as positive.
To find the moment of inertia, both masses are treated as point
masses, with 𝐼 = 𝑚𝑟 for both. The total moment of inertia is the
sum of the two.
∑𝜏
𝜏 = 𝐼𝛼 → 𝛼 =
𝛼
(𝑚𝑔)𝑥 − (2𝑚𝑔)(3𝑥) −5𝑚𝑔𝑥 𝟓𝒈
→𝛼= →𝛼= →𝜶=−
𝑚(𝑥) + (2𝑚)(3𝑥) 19𝑚𝑥 𝟏𝟗𝒙
The negative acceleration indicates that the acceleration is clockwise.

Example C: The pulley in the diagram on the right has a moment of inertia 𝐼
and radius 𝑟. The coefficient of sliding friction between M1 and the surface is
𝜇. Assume M2 is sufficient so that the system moves down. What is the
downward acceleration of M2?
The moment of inertia of pulley will resist the motion of the system. In
addition to causing the system to move slower than if the pulley had no
moment of inertia, this will also make the tension in the two sections of the rope to be different, so T 1 and T2 are
defined:

Like a frictionless pulley, free-body diagrams will be drawn for the blocks and F=ma in the direction of motion
will be used. In addition, a “free-body diagram” of the pulley will be drawn and 𝜏 = 𝐼𝛼 in the direction of
rotation will also be used.

Block M1 – The direction of motion (+direction) is to the right:

𝑀 𝑎 =𝑇 −𝐹

→ 𝑀 𝑎 = 𝑇 − 𝜇𝑀 𝑔

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Block M2 – The direction of motion (+) is down:

𝑀 𝑎 =𝑀 𝑔−𝑇

Pulley – The direction of motion is clockwise. It is more appropriate to use the

direction of motion as positive rather than right-hand rule convention when a
system is in motion.

𝜏 = 𝐼𝛼

→ 𝑇 𝑟 − 𝑇 𝑟 = 𝐼𝛼

Since the other equations use linear acceleration, the angular acceleration will be converted using 𝑎 = 𝑟𝛼:
𝑎
→𝑇 𝑟−𝑇 𝑟 =𝐼
𝑟
To add the equations more easily (so tensions cancel), the equation is divided by r:
𝑎
→𝑇 −𝑇 =𝐼
𝑟
The three equations are:

𝑀 𝑎 = 𝑇 − 𝜇𝑀 𝑔 𝑀 𝑎 =𝑀 𝑔−𝑇 𝑎 =𝑇 −𝑇

Adding the equations yields:

𝐼 𝐼
𝑀 𝑎+𝑀 𝑎+ 𝑎 = 𝑀 𝑔 − 𝜇𝑀 𝑔 → 𝑎 𝑀 + 𝑀 + = 𝑀 𝑔 − 𝜇𝑀 𝑔
𝑟 𝑟
𝑴𝟐 𝒈 − 𝝁𝑴𝟏 𝒈
→𝒂= 𝑰
𝑴𝟏 + 𝑴𝟐 +
𝒓𝟐

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AP Physics C: Mechanics Unit 5 - Rotation
5.4 Work & Energy in Rotation (Chapter 10)
Focus Question: What determines the total energy of a moving object?
A rotating object has kinetic energy because all the particles that make up the object are in motion. The total
kinetic energy of a rotating object is the sum of the kinetic energy of all the particles.

Solve for rotational kinetic energy.

Kinetic Energy for Rotation: – Energy an object possess due to its rotational motion.
1
𝐾= 𝐼𝜔
2
Example A: A block of mass m is attached to a string that goes over a cylindrical pulley
of mass M and radius R. When the block is released, the pulley begins to turn as the
block falls. Calculate the acceleration of the block.

This system involves both linear and rotational motion, so both F=ma and 𝜏 = 𝐼𝛼 are
both to be used for the mass and pulley respectively. The direction of motion will be
take as the positive direction for both.

Pulley: Clockwise is the direction of motion:

𝜏 = 𝐼𝛼

1 𝑎 1
𝑇𝑅 = 𝑀𝑅 → 𝑇 = 𝑀𝑎
2 𝑅 2

Block: Down is the positive direction:

𝐹 = 𝑚𝑎
𝑀𝑔 − 𝑇 = 𝑀𝑎

Combing the equations using substitution

1
𝑀𝑔 − 𝑀𝑎 = 𝑀𝑎
2
3
→ 𝑀𝑔 = 𝑀𝑎
2
𝟐
→𝒂= 𝒈
𝟑

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Apply the work-energy theorem
 A force applied to a rotating body does work on the body. The work can be expressed with torque and
angular displacement:

*only the component of the force perpendicular to the axis of rotation does work.
𝒅𝑾
 Power: 𝑷 =
𝒅𝒕

Analyze the motion of a rolling object.

 Total kinetic energy of a rigid body – A rolling object has both linear kinetic and rotational
kinetic energy.

1 1
𝐾= 𝐼𝜔 + 𝑚𝑣
2 2
Example B: The wheel on the ground keeps on turning. Show that the radius of the wheel does not affect its
total kinetic energy.

1 1 1 1 1 𝑣 3
𝐾= 𝑀𝑣 + 𝐼𝜔 → 𝐾 = 𝑀𝑣 + 𝑀𝑅 →𝐾= 𝑀𝑣
2 2 2 2 2 𝑅 4
*this assumes that the wheel rolls without slipping*

 Rotating - Each point on wheel has a different linear velocity.

 Sliding - Each point on wheel has the same linear velocity.

 Rolling without slipping - the point of contact between the wheel and surface has no linear velocity.

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*When friction is present and an object rolls without slipping, friction is used to convert rotational kinetic
energy into linear kinetic energy. The magnitude of the negative rotational work done by friction equals the
positive linear work done by friction. Thus friction does no net-work on the wheel. *

Example C: A solid wheel of mass M and radius R moves up an incline as

shown. The speed of the ring is 𝑣 as it enters the incline.

*Background* When friction is present, it is used to convert rotational kinetic

energy into linear kinetic energy. The magnitude of the negative rotational work done by friction equals the
positive linear work done by friction. Thus friction does no net-work.

a) Find how high up the incline the wheel goes if: the wheel slips while going up the incline. (frictionless)

If there is no friction, the rotational motion of the wheel will not be converted to linear motion. This problem
works the same as sliding.

b) Find how high up the incline the wheel goes there is no slipping of the wheel as it moves up the incline.
(friction is present)

If there is friction, the rotational of the wheel helps it move forward and it can convert its rotational kinetic
energy into potential energy.

In a), only the linear kinetic energy is converted to potential energy. In b), both linear and rotational kinetic
energy are converted into gravitational potential energy, which is why the answer to b) is greater.

c) How would the answer to b) change if the wheel were solid?

In this case, there would be more initial energy (more I at the beginning), so the wheel will go higher.

85
Example D; Rolling down an incline: A wheel of radius M and radius
R rolls without slipping down an incline.

a) Find the linear speed of the center of mass of the wheel when it
reaches the bottom of the incline.
b) Calculate the acceleration of the wheel down the incline.
c) Determine the minimum coefficient of friction required to
prevent slipping down the incline.
a) Using conservation of energy:

b) The force of friction applies a positive torque since it causes the wheel to rotate downhill, but a negative
force since it resists the sliding motion downhill. *friction always is to be taken as acting uphill on an
incline. Gravity (the parallel component) is a positive force since it propels the wheel downhill. Gravity
causes no torque since it acts at the center of mass. The normal force applies no torque or force since it
is parallel to the axis of rotation (no torque) and has no component in the direction of motion (no force).

c) To prevent slipping, there are two conditions: 𝑣 = 𝑟𝜔 and 𝜇 = 𝑚𝑔𝑐𝑜𝑠𝜃.

86
Example E: Rolling with slipping – A ring of mass M,
radius R, and rotational inertia MR2 is initially sliding on a
frictionless surface at constant velocity v0 to the right, as
shown. At time t = 0 it encounters a surface with coefficient
of friction 𝜇 and begins sliding and rotating. After traveling a
distance L, the ring begins rolling without sliding.

a) Derive an expression for the magnitude of the following as the ring is sliding and rotating.

i. The linear velocity of the ring as a function of time t

Friction acts a resistive force to slow down the linear motion:
𝑀𝑎 = 𝐹 → 𝑀𝑎 = −𝜇𝑀𝑎 → 𝑎 = −𝜇𝑔
The velocity changes as a function of time based on this negative acceleration after starting at v 0.
𝑣(𝑡) = 𝑣 + 𝑎𝑡 → 𝒗(𝒕) = 𝒗𝟎 − 𝝁𝒈𝒕

ii. The angular velocity of the ring as a function of time t

Friction acts as a positive rotational force since it makes the object rotate:
𝜇𝑔
𝐼𝛼 = 𝐹 𝑅 → (𝑀𝑅 )𝛼 = 𝜇𝑀𝑔𝑅 → 𝛼 =
𝑅
𝝁𝒈
𝜔(𝑡) = 𝜔 + 𝛼𝑡 → 𝝎(𝒕) = 𝒕
𝑹

b) Derive an expression for the time it takes the ring to travel the distance L.
The wheel will start rolling without slipping when 𝑣(𝑡) = 𝜔(𝑡)𝑅
𝜇𝑔
𝑣 − 𝜇𝑔𝑡 = 𝑡(𝑅)
𝑅
𝒗𝟎
→ 𝑣 − 𝜇𝑔𝑡 = 𝜇𝑔𝑡 → 𝒕 =
𝟐𝝁𝒈

c) Derive an expression for the magnitude of the velocity of the ring immediately after it has traveled L.
𝑣 𝑣
𝑣 = 𝑣 − 𝜇𝑔
2𝜇𝑔 2𝜇𝑔
𝑣 𝒗𝟎
→ 𝑣 =
2𝜇𝑔 𝟐

d) Derive an expression for the distance L.

𝑣
𝜇𝑔 𝟑𝒗𝟐𝟎
𝐿= 𝑣(𝑡)𝑑𝑡 = (𝑣 − 𝜇𝑔𝑡)𝑑𝑡 → 𝐿 = 𝑣 𝑡 − 𝑡 |2𝜇𝑔 → 𝐿 =
2 𝟖𝝁𝒈
0

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AP Physics C: Mechanics Unit 5 - Rotation
5.5 Angular Momentum (Chapter 11)
Focus Question: How is angular momentum related to linear momentum?

 The angular momentum, 𝐿⃑, of a particle about an axis perpendicular to the plane of the particles motion:

An object moving linearly through space can also have angular momentum about some reference point.
For point mass moving linear, its angular moment a distance r away along a perpendicular axis is given:
𝑳 = 𝒎𝒗𝒓
 Angular momentum is a vector quantity. The direction is clockwise (-) or counterclockwise (+).
 For an object consisting of many particles, the total angular momentum is found by adding up the
angular momenta of all particles in the object:
𝑳 = 𝒎𝒗𝒓 = 𝒎(𝝎𝒓)𝒓 = 𝝎𝒎𝒓𝟐
→𝑳=𝝎 (𝒎𝒓𝟐 )
→ 𝑳 = 𝑰𝝎
 The Impulse-Momentum Theorem for Rotation:
Angular Impulse - 𝐽 = 𝜏𝑡
A torque applied for a time changes angular momentum:
𝜏𝑡 = 𝐼𝜔 − 𝐼𝜔
→ 𝑱𝜽 = ∆𝑳

Apply the impulse momentum theorem for momentum.

Example A: A 3.0 kg particle moves parallel to the x-axis along the line 𝑦 = 2.0 m with velocity 2.0 m/s. What
is the angular momentum of the particle when it is 4.0 m to the left of the origin?

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Example B: The angular speed of a flywheel having a rotational inertia of 0.150 kg∙m 2 about its central axis
decreases from 20.0 rad/s to 4.00 rad/s in 1.50 s. What is the magnitude of the average torque acting on the
flywheel about its central axis during this period?

Apply conservation of momentum in rotation.

 Suppose two spinning disks on axle slide together. The disks collide and exert
impulses on each other. By Newton’s 3rd Law, the impulses are equal but
opposite:
𝜏 =𝜏

 Since all torques are internal, and no external torques act, momentum must be constant:
If there are no external torques applied, the initial angular momentum of a system will be equal to the
final angular momentum of the system:

 Internal interaction in a system cannot change the total angular momentum of the system.
 Example: Skaters move faster when pulling in their arms as this decreases their moment of inertia, allow
their angular speed to increase without any external force.
Example C: A circular disc platform rotates about a central axis. The platform has a mass
M and a radius R. A student of mass M/4 walks slowly from the rim of the disk toward its
center. If the angular speed of the system is 𝜔 when the student is at the rim, what is the
angular speed when she reaches a point R/2 from the center?

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Example D: A bullet of mass m is shot at speed v into a block of mass M. The bullet hits a distance of r from
the center of the block as shown (the block is of width 2r). The block flies into the air while spinning.

a) Calculate the angular speed of the block.

b) How would the maximum height reached by the block compare if the bullet was shot directly into the
center of the block?

In a collision where angular moment is present, angular momentum is conserved. If linear momentum is also
present, it will also be conserved. These two will be conserved separately. No matter where the bullet hits the
block, the linear speed after the collision will be given by:
𝑚𝑣
𝑚𝑣 = (𝑀 + 𝑚)𝑣 → 𝑣 =
𝑀+𝑚
In both cases, the bullet/block combo will have the same linear speed after the collision and will reach the same
height, even though the block will spin in one case and will not spin in the other.

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AP Physics C: Mechanics Unit 5 - Rotation
5.6 Static Equilibrium (Chapter 12)
Focus Question: When is a rigid object in equilibrium?
Conditions for Equilibrium of a Rigid Body
Translational Equilibrium – ∑ 𝐹 = 0 Rotational Equilibrium – ∑ τ = 0

Objective: Apply static equilibrium

Example A: - Center of Gravity- A 170 cm tall person lies on a light (assume

massless) board which is supported by two scales, one under the feet and one
beneath the top of the head. The two scales read, respectively, 31.6 kg, and 35.1
kg. Where is the center of gravity of this person?
*The person’s weight will act (and thus cause a torque) at their center of gravity.

Example B: A hungry bear weighing 600 N walks out on a beam in an attempt

to retrieve a picnic basket hanging at the end of the beam. The beam is uniform,
weighs 200 N, is 6.00 m long, and it is supported by a wire at an angle of
𝜃 =60.0°. At the very end of the beam is the picnic basket that weighs 80 N. If
the maximum tension force the wire can withstand is 700 N, how far can the
bear walk out on the beam before it breaks?
*Set the sum of torques equal to zero to find the point at which there will be a
net torque if the bear walks further.

As this is a statics problem, the right-hand rule convention will be used to determine the sign of torque.
𝜏 = 0 = −(200 𝑁)(3𝑚) − (600 𝑁)𝑥 − (80 𝑁)(6𝑚) + (700 sin 60°)(6𝑚)
→ 𝑥 = 4.3 𝑚 𝑓𝑟𝑜𝑚 𝑙𝑒𝑓𝑡

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Example C: Strut - The system shown is in equilibrium. A concrete block of
mass 225 kg hangs from the end of a uniform strut whose mass is 45.0 kg.
a) Calculate the tension in the string.
b) Find the force the hinge exerts on the strut.
a)
∑𝜏 =0=−𝑊 sin 45° −𝑊 sin 45° (𝐿) + 𝑇 sin 15°(𝐿)
𝑚 1 𝑚
0 = −(45 𝑘𝑔) 10 sin 45° − (225 𝑘𝑔) 10 sin 45° + 𝑇 sin 15°
𝑠 2 𝑠
→ 𝑇 = 𝟔𝟕𝟔𝟏 𝑵
b) There is an x and y component of the force of the hinge. The force of the
hinge acts to cancel out the other forces.
𝐹 = 𝐻 − 𝑇 cos 30 = 0
→ 𝐻 = 5854 𝑁
𝐹 = 𝐻 − 𝑇 sin 30 − 𝑊 −𝑊 =0
→ 𝐻 = 6080 𝑁
The total force can be found using Pythagorean Theorem:
𝐻 = 5854 + 6080 = 𝟖𝟒𝟒𝟎 𝑵

Example D: Ladder - A uniform ladder rests against a smooth, vertical wall. The mass of the
ladder is m, and the coefficient of static friction between the ladder and the ground is 0.40.
Find the minimum angle at which the ladder does not slip.

Forces on ladder

𝐹 : Normal force of floor on ladder, doesn’t affect the

problem as the pivot is the contact point of the ladder
on the floor, and the normal force causes no torque
about this point.

𝐹 : Force of friction = 𝜇𝑚𝑔. Doesn’t cause a torque.

𝑚𝑔: the weight of the ladder; causes a clockwise torque.

𝐹 : The normal force of the wall on the ladder; causes a counter-

clockwise torque. Using 𝐹 = 0 , 𝐹 = 𝐹 , so the magnitude of the wall force is 𝜇𝑚𝑔.
∑

To prevent slipping of the ladder:

𝐿 𝑚𝑔
𝜏 = 0 = −𝑚𝑔 cos 𝜃 + 𝐹 sin 𝜃𝐿 → cos 𝜃 = 𝐹 sin 𝜃
2 2
𝑚𝑔 cos 𝜃
→ cos 𝜃 = 𝜇𝑚𝑔 sin 𝜃 → = 2𝜇
2 sin 𝜃
→ cot 𝜃 = .8 → 𝟓𝟏°

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Example E: Curb – What minimum force must by applied at the top of the
wheel shown to raise it over a curb of height h = 0.3 m. The radius of the
wheel is R = 0.5 m and the wheel is solid and has a mass of m = 1.0 kg.
*To simplify the next two questions, the torque will be found simply using
perpendicular distance to the pivot. If only horizontal and vertical forces are
used, the problem can be simplified by thinking of it as follows:
-To find the torque due to a horizontal force, multiply by the vertical distance.
-To find the torque due to a vertical force, multiply the horizontal distance.

Diagram of the forces and distances:

The pivot is the point of initial point of contact between the curb and the wheel.
F is a horizontal force and its vertical distance to the pivot is 2R-h. This is a clockwise (-) work.
mg is a vertical force and its horizontal distance to the pivot is found to be 𝑅 − (𝑅 − ℎ) using geometry.
This is a counter-clockwise (+) torque.
𝜏 = −𝐹(2𝑅 − ℎ) + 𝑚𝑔 𝑅 − (𝑅 − ℎ) =0
→ 𝐹(2𝑅 − ℎ) = 𝑚𝑔 𝑅 − (𝑅 − ℎ)
𝑚𝑔 𝑅 − (𝑅 − ℎ)
𝐹=
2𝑅 − ℎ
(1.0 𝑘𝑔)(10 ) (. 5 𝑚) − (. 5 𝑚 − .3𝑚)
𝐹=
2(. 5 𝑚) − .3 𝑚
→ 𝑭 = 𝟔. 𝟓 𝑵

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Example F: Tipping vs. Sliding – A wooden cube is dragged across the floor by a
horizontal force of magnitude 𝐹⃑ . The force acts along the middle of the top edge of the
cube.
a) Find the line of action of the normal force exerted by the floor on the cube if
the coefficient of sliding friction is .25.
When a tipping force is applied, the normal force’s point of
action will move closer and closer to the tipping point (the
bottom right corner in this case).
There are 3 forces causing torque about the bottom right:
 F is a horizontal force a vertical distance of L away. This
force causes a CW (-) torque.
 mg is a vertical force a horizontal distance of L/2 away.
This force causes a CCW (+) torue).
 FN is a vertical force a horizontal distance of x away.
This force causes a CW (-) torque.
 FF acts at the pivot, so it causes no torque.
𝐹 = 0 = 𝐹 − 𝑚𝑔 → 𝐹 = 𝑚𝑔

𝐹 = 0 = 𝐹 − 𝐹 → 𝐹 = 𝐹 → 𝐹 = 𝜇𝑚𝑔

𝐿
𝜏 = 0 = −𝐹𝐿 + 𝑚𝑔
−𝐹 𝑥
2
𝐿 𝐿 𝑳
→ 0 = −𝜇𝑚𝑔𝐿 + 𝑚𝑔 − 𝑚𝑔𝑥 → 𝑥 = − 𝜇𝐿 → 𝑥 =
2 2 𝟒

b) For what minimum coefficient of static friction would the box tip instead of slide when 𝐹⃑ is applied?
When the object starts to tip, the normal force moves all the way to the
corner and acts directly up at the corner, since that is the only point of
contact between the block and surface as it starts to tip, so x = 0.

𝐿
𝜏 = 0 = −𝐹𝐿 + 𝑚𝑔 − 𝐹 (0)
2
𝑚𝑔𝐿 𝑚𝑔𝐿
→ 𝐹𝐿 = → 𝜇𝑚𝑔𝐿 =
2 2
→ 𝝁 = 𝟎. 𝟓

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