1

Rotation by Gulshan Jha Sir

ROTATION =
1 1 1 2
m1v12 + m2 v22 + ...... = Iω
RIGID BODY: 2 2 2
Rigid body is defined as a system of particles in which distance Where I = Moment of Inertia
between each pair of particles remains constant (with respect to
= m1r12 + m2 r22 + ...
time) that means the shape and size do not change, during the
motion. Eg. Fan, Pen, Table, stone and so on. ω = angular speed of body
Combined translational and Rotational Motion
A body is said to be in translational and rotational motion if all
the particles rotates about an axis of rotation and the axis of
rotation moves with respect to the ground.
MOMENT OF INERTIA
Moment of inertia depends on :
(i) density of the material of body
(ii) shape & size of body
(iii) axis of rotation
Moment of Inertia of Rigid Bodies

If the above body is rigid

VA cos θ1 = VB cos θ 2
TYPES OF MOTION OF RIGID BODY
Types of Motion of Rigid body

I = ∫ r 2 dm
Pure Translational Pure Rotaional Combined Translational &
Motion Motion Rotational Motion
Where the integral is taken over the system
Pure Translational Motion
Two Theorems
(i) Theorem of parallel axes

   
Fext = m1a1 + m2 a2 + m3 a3 + ...
 
Fext = Ma
   
P = m1v1 + m2 v2 + m3 v3 + ....
Pure Rotational Motion: I I CM + mr 2 or I 2= I1 + mr 2
=

(ii) Theorem of perpendicular axes

I=
z Ix + I y
Total Kinetic Energy
 2

Moment of Inertia of different body: (v) Square slab

(i) Thin rod

ma 2
2 2 I= I= I=
ml ml 1 2 3
12
I1 0,=
= I2 , I3
=
12 3
ma 2
I 4 = I1 + I 3 =
ml 2 ml 2 6
=I4 = sin 2 θ , I 5 sin 2 θ
12 3 (vi) Solid sphere
(ii) Circular disc

2
I1 = mR 2
mR 2 mR 2 5
I=
1 I=
2 , I 3 = I1 + I 2 =
4 2
7
I1 mR 2 =mR 2
I 2 =+
5 3 5
I4 =I 2 + mR 2 = mR 2 , I 5 =I 3 + mR 2 =mR 2
4 2 m = mass of sphere
(iii) Circular ring (vii) Hollow sphere

mR 2
I1 = I 2 + , I 3 = I1 + I 2 = mR 2 2
2 I1 = mR 2
5
3
I4 =I 2 + mR 2 =mR 2 , I 5 =I 3 + mR 2 =2mR 2 5
2 I1 mR 2 =mR 2
I 2 =+
3
(iv) Rectangular slab
Torque about point:
   
Torque of force F about a point τ = r × F -
Torque about axis:
  
τ= r ×F

Where τ = torque acting on the body about the axis of
mb 2 ma 2 rotation
=I1 = , I2 
12 12 r = position vector of the point of application of force about
m 2 the axis of rotation.
I 3 = I1 + I 2 = (a + b 2 ) 
12 F = force applied on the body
   
τ net = τ 1 + τ 2 + τ 3 + ...
 3

Body is in Equilibrium horizontal surface. Velocity of its centre of mass is Vcom and
We can say rigid body is in equilibrium when it is in its angular speed is ω as shown in figure. We divide our
(a) Translational equilibrium problem in two parts
  
i.e., Fnet = 0 Fnet x = 0 and Fnet y = 0 and (b) Rotational

equilibrium τ net = 0, i.e., torque about any point is zero
ANGULAR MOMENTUM
Angular momentum of a particle about a point
(1) Pure Rotational + (2) Pure Translational about centre of
mass.

  
L= r × P ⇒ L = r p sin θ
 
L = r⊥ P, L= P⊥ × r Acceleration of a point on the circumference of the body in

Angular Momentum of a rigid body rotating about a R+T motion:

fixed axis The net acceleration of different points on the rigid body.

L = Iω
Here, I is the moment of inertia of the rigid body about axis.
Note: Angular momentum about axis is the component of

I ω along the axis. In most of the cases angular momentum

about axis is Iω.

CONSERVATION OF ANGULAR
MOMENTUM:
 
 dL  dL
or τ net = Now, suppose that τ net = 0 then = 0 , so that
dt dt

L = constant. Angular momentum of a rigid body in combined rotation and

ANGULAR IMPULSE translation

The angular impulse of a torque in a given time interval is

t2 
defined as ∫t1
τ dt

 dL   t2 
τ = dL of
∴τ dt = ∫ τ dt Let O be a fixed point in an inertial frame of reference.
dt t1
   
  Angular momentum of the body about O is L =Lcm + M (r0 × v0 )
= angular impulse = L2 − L1
UNIFORM PURE ROLLING
COMBINED TRANSLATIONAL AND
Pure rolling means no relative motion (or no slipping at point of
ROTATIONAL MOTION OF A RIGID BODY:
contact between two bodies.)
To understand the concept of combined translational and
VP =VQ or v – Rω = 0 or v = Rω
rotational motion we consider a uniform disc rolling on a
If vp > vQ or v > Rω, the motion is said to be forward slipping
 4

Now, suppose an external force is applied to the rigid body, the Toppling
motion will no longer remain uniform. The condition of pure
rolling on a stationary ground is,
a = Rα
Thus, v = Rω, a Rα is the condition of pure rolling on a stationary
ground. Sometime it is simply said rolling.
Pure rolling when force Fact on a body: Torque about E
Fb = (mg) a
𝐹𝐹𝐹𝐹
Or 𝑎𝑎 =
𝑚𝑚𝑚𝑚

For increases

a = linear acceleration, α = angular acceleration from linear

motion:
F + f = Ma
from rotational motion: Fx - fR = 1α
F ( R + x) F ( x − RC )
a = , f
MR(C + 1) R(C + 1) Fb + N(a - x) = mg a

Pure Rolling on an Inclined Plane: If x = a

Fmaxb = mga
𝑚𝑚𝑚𝑚𝑚𝑚
𝐹𝐹 max =
𝑏𝑏

g sin θ
a=
1+ c
So body which have low value of C have greater
acceleration
Note: We can represent the moment of inertia of a different
rigid body in a following way.
I = CMR 2
Value of C = 1 for circular ring(R)
1
𝐶𝐶 = for circular disc (D) and solid cylinder (S.C.)
2
2
𝐶𝐶 = for Hollow sphere (H.S),
3
2
𝐶𝐶 = for solid sphere (S.S)
5