Chap.

11B - Rigid Body

Rotation
A PowerPoint Presentation by
Paul E. Tippens, Professor of
Physics
Southern Polytechnic State
© 2007
University
Objectives: After completing
this module, you should be
able to:
•• Define
Define and
and calculate
calculate the
the moment
moment of
of inertia
inertia
for
for simple
simple systems.
systems.
•• Define
Define and
and apply
apply the
the concepts
concepts of of Newton’s
Newton’s
second
second law
law,, rotational
rotational kinetic
kinetic energy
energy,,
rotational
rotational work
work,, rotational
rotational power
power,, and
and
rotational
rotational momentum
momentum to to the
the solution
solution of
of
physical
physical problems.
problems.
•• Apply
Apply principles
principles ofof conservation
conservation of
of energy
energy
and
and momentum
momentum to to problems
problems involving
involving
rotation
rotation of
of rigid
rigid bodies.
bodies.
 Inertia of Rotation
Consider Newton’s second law for the inertia
of rotation to be patterned after the law for
translation.
F = 20 N Linear Inertia,
m 24 N
a = 4 m/s 2
m = 4 m/s2 = 5 kg

F = 20 N Rotational Inertia,
R = 0.5 m I (20 N)(0.5 m)
 = 2 rad/s2 I= = = 2.5 kg m 2
 4 m/s2

Force does for translation what torque does for rotation:

 Rotational Kinetic Energy
Consider tiny mass
m: v = R
m
K = ½mv 2 m

K = ½m(R)2  m1
4
m3
m2
K = ½(mR ) 2 2 axis

Sum to find K total: Object rotating at constant 

K = ½(mR2)2 Rotational Inertia Defined

(½2 same for all m ) II = mR

= mR 22
Example 1: What is the rotational
kinetic energy of the device shown
if it rotates at a constant speed of
600 rpm?
First: I =
mR 2
I = (3 kg)(1 m)2 2 kg
3m 3 kg

+ (2 kg)(3 
1m
m)2 + (1 kg) 2m 1 kg
(2 m)2
I = 25 kg m2 = 600rpm = 62.8 rad/s

K = ½Iw2 = ½(25 kg m2)(62.8 rad/s) 2

KK =
= 49,300
49,300 JJ
 Common Rotational
Inertias
L L

2 2
I  3 mL
1 I 1
12 mL

R R R

2
I = mR 2
I = ½mR 2
I  5 mR
2

Hoop Disk or cylinder Solid sphere

Example 2: A circular hoop and a
disk each have a mass of 3 kg and
a radius of 30 cm. Compare their
rotational inertias.
R
2 2
I mR (3 kg)(0.2 m)
I = 0.120 kg I = mR2
m2 Hoop

R 2
I  mR  (3 kg)(0.2 m)
1 1 2
2 2

I = ½mR2 I = 0.0600 kg
Disk m2
 Important Analogies
For many problems involving rotation, there
is an analogy to be drawn from linear motion.
m 
 50
x I R
rad/s  =
f
4 kg 40 N m

A resultant force A resultant torque

F produces produces angular
negative acceleration  of
acceleration a for disk with rotational
a mass m. inertia I.
FF 
ma
ma  
II

Newton’s 2nd Law for
Rotation
How many
F 50 rad/s
revolutions 
required to stop? R R = 0.20 m
= I 4 kg
F = 40 N

FR = (½mR2) 20f2 -
2F 2(40N) o
2

   0
2
 (50 rad/s) 2
 
mR (4 kg)(0.2 m) 2 2(100 rad/s 2 )

= 100rad/s2  = 12.5 rad = 1.99 rev

 Example 3: What is the linear
accel- eration of the falling 2-kg R = 50 cm
mass? M6 kg
Apply Newton’s 2nd law to rotating disk:
I a=?
TR = (½MR2) 2
 a
a = R;  = kg
T = ½MR but R
a R = 50 cm
T = ½MR( ) ; and T = ½Ma
R
6 kg
T
Apply Newton’s 2nd law to falling mass:
T
mg - T = ma mg - ½Ma
T = ma +a 2
(2 kg)(9.8 m/s2) - ½(6 kg) a = (2 kg
kg) a mg
19.6 N - (3 kg) a = (2 kg) a a = 3.92 m/s2
 Work and Power for
Rotation
Work = Fs = FR FR
s

Work
Work =
= 
 F
 F
Wor 
Power = = t = 
s = R
kt
t
Power =


Power = Torque x average angular

velocity
 Example 4: The rotating disk
has a radius of 40 cm and a
mass of 6 kg. Find the work s
and power if the 2-kg mass is 
lifted 20 m in 4 s. 6 F
2 kg kg
Work = = FR 
F=W
 = s =20 m = 50 s = 20 m
rad R 0.4 m
F = mg = (2 kg)(9.8 m/s2); F = 19.6
N
Work = (19.6 N)(0.4 m)(50
Work = 392 J
rad)

Wor
Power = = 392 Power = 98
kt J 4s W
 The Work-Energy
Theorem
Recall for linear motion that the work done is
equal to the change in linear kinetic energy:

2 2
Fx ½ mv  ½ mv
f 0

Using angular analogies, we find the rotational

work is equal to the change in rotational
kinetic energy:

 ½ I  ½ I2
f
2
0
Applying the Work-Energy Theorem:
What work is 60 rad/s
F
needed to stop 
wheel rotating: R R = 0.30 m
Work=
F = 40 N
r 4 kg

First find I for wheel: I = mR2 = (4 kg)(0.3 m)2 = 0.36

kg m2
0
Work = -
 ½ I  ½ I
2
f
2
0 ½I
Work = -½(0.36 kg m2)(60 Work = -648
rad/s)2 J
 Combined Rotation and
Translation
vcm First consider a disk sliding
vcm without friction. The velocity
of any part is equal to
vcm velocity vcm of the center of
mass. 
Now consider a ball rolling
without slipping. The angular v
velocity  about the point P is R
same as  for disk, so that we P
write:
v
 Or v  R
R
 Two Kinds of Kinetic
Energy
Kinetic 
Energy of K = ½mv 2

Translation: R v
Kinetic
Energy of K = ½I 2 P
Rotation:
Total Kinetic Energy of a Rolling
Object:
mv  II
22 22
KTT 
K  mv
11
22  11
22
 Angular/Linear
Conversions
In many applications, you must solve an
equation with both angular and linear
parameters. It is necessary to remember
the bridges:
bridges
s
Displacemen s  R 
R
t:
v
Velocity: v  R 
R

Acceleration: v  R a
R
 Translation or Rotation?
If you are to solve for a linear parameter,
you must convert all angular terms to
linear terms:
s v 
  a I (?)mR 2
R R R
If you are to solve for an angular
parameter, you must convert all linear
terms to angular terms:
s  R v  R v  R
Example (a): Find velocity v of a disk if
given its total kinetic energy E.

Total energy: E = ½mv2 + ½I

v
E  mv  I  ; I  mR ;  
1
2
2 1
2
2 1
2
2

R
 v 2

1 2 1 1
 2

E  2 mv  2 2 mR  2  ; E  12 mv 2  14 mv 2
R 
3mv 2 4E
E or v
4 3m
Example (b) Find angular velocity  of a
disk given its total kinetic energy E.

Total energy: E = ½mv2 + ½I

E  12 mv 2  12 I  2 ; I  12 mR 2 ; v  R

E  12 m( R ) 2  12  12 mR 2  2 ; E  12 mR 2 2  14 mR 2 2

3mR 2 2 4E
E or 
4 3mR 2
 Strategy for Problems
• Draw and label a sketch of the
problem.
• List givens and state what is to be
found.
• Write formulas for finding the
moments of inertia for each body that
is in rotation.
• Recall concepts involved (power,
energy, work, conservation, etc.) and
write an equation involving the
unknown quantity.
• Solve for the unknown quantity.
Example 5: A circular hoop and a
circular disk, each of the same mass
and radius, roll at a linear speed v.
Compare the kinetic energies. 

Two kinds of energy: v v
KT = ½mv2 Kr = ½I2
v
Total energy: E = ½mv + ½I 2  =
R
 v 2

2
2
Disk: E ½ mv  ½ ½ mR  2   E = ¾mv2
R 
 v 2

2 2

Hoop: E ½ mv  ½ mR  2   E = mv2
R 
 Conservation of Energy
The total energy is still
conserved for systems in rotation
and translation.
However, rotation must now be considered.
Begin: (U + Kt + KR)o = End: (U + Kt +
KR)f
Height? Height?
mgho mghf
Rotation Rotation
? ½ = ½f ?

velocity ½mvo2 ½mvf2 velocity

? ?
 Example 6: Find the velocity of the 2-kg
mass just before it strikes the floor.
R = 50 cm
mgho mghf

½ = ½f 6 kg

2 kg
½mv o
2 ½mvf2
h = 10 m

mgh0  12 mv 2  12 I  2 I  12 MR 2
2 2  v 2
 2.5v2 = 196 m2/s2
mgh0  2 mv  2 ( 2 MR )  2 
1 1 1

R 
2 2 v = 8.85 m/s
(2)(9.8)(10)  (2)v  (6)v
1
2
1
4
 Example 7: A hoop and a disk roll from
the top of an incline. What are their
speeds at the bottom if the initial
height is 20 m?
mgho = ½mv2 + ½I2 Hoop: I = mR2

2 2  v 2

mgh0 ½ mv  ½(mR )  2  20 m
R 
mgho = ½mv2 + ½mv2; mgho = mv2

v  gh0  (9.8 m/s 2 )(20 m) Hoop: vv == 14

14 m/s
m/s
Disk: I = ½mR2; mgho = ½mv2 + ½I2 v 4 gh0
3
2 2  v 2

mgh0 ½ mv  ½(½ mR )  2 
R  v = 16.2 m/s
 Angular Momentum
Defined
Consider a particle
m moving with v = r
m
velocity v in a circle m
of radius r.
Define angular
 m1
4
m3
momentum L: m2
L = mvr axis
Substituting v= r, Object rotating at constant 
gives:
Since I = mr2, we
L = m(r) r = mr2 have:
For extended rotating
L = I
body:
L = (mr2)  Angular
Momentum
Example 8: Find the angular
momentum of a thin 4-kg rod of L = 2 m
length 2 m if it rotates about its
midpoint at a speed of 300 m=4
rpm. kg
For rod: I =1 mL2 =1 (4 kg)(2
12 m)2 12 I = 1.33 kg m2

 rev   2 rad   1 min 

  300    31.4 rad/s
 min   1 rev   60 s 
L = I(1.33 kg m2)(31.4
rad/s)2
L = 1315 kg
m2/s
 Impulse and Momentum
Recall for linear motion the linear impulse is
equal to the change in linear momentum:

F t mv f  mv0
Using angular analogies, we find angular
impulse to be equal to the change in angular
momentum:

 t I f  I 0
Example 9: A sharp force of 200 N is
applied to the edge of a wheel free to
rotate. The force acts for 0.002 s. What is
the final angular velocity?
I = mR2 = (2 kg)(0.4 t = 0.002
s 0 rad/s
m)2 
R R = 0.40 m
I = 0.32 kg m2
F F = 200 N
Applied torque 2 kg
FR
Impulse = change in angular momentum
0
t = Ifo FR t = If

f = 0.5 rad/s
 Conservation of
Momentum
In the absence of external torque the
rotational momentum of a system is
conserved (constant).
0
Iffo=t Iffo

Io = 2 kg m2;  = 600
If = 6 kg m2;  = ?
rpm

I 0 0 (2 kg m )(600 rpm)
2
f   2 f = 200 rpm
If 6 kg m
 Summary – Rotational
Analogies
Quantity Linear Rotational
Displacement Displacement Radians 
x
Inertia Mass (kg) I (kgm2)
Force Newtons N Torque N·m
Velocity v “ m/s ”  Rad/s
Acceleration a “ m/s2 ”  Rad/s2
Momentum mv (kg m/s) I
(kgm2rad/s)
 Analogous Formulas
Linear Motion Rotational Motion
F = ma  = I
K = ½mv2 K = ½I2
Work = Fx Work = 
Power = Fv Power = I
Fx = ½mvf2 - ½mvo2  = ½If2 - ½Io2
Summary of Formulas:II == mR
mR
22

 II Work 

Work   IIoo IIff
oo  ff
22
KK 11
22 

 

 
½½II ½II
  ½
22

ff
22
00
Power 
Power  
tt
Height? Height?
mgho mghf
Rotation Rotation
? ½ = ½f ?

velocity ½mvo2 ½mvf2 velocity

? ?
CONCLUSION: Chapter 11B
Rigid Body Rotation