7 - ROTATIONAL MOTION

Page 1

Introduction

7.1 Rotational Kinematics and Dynamics

om

In this chapter, rotational motion of a rigid body about a fixed axis of rotation is discussed.
A rigid body is a system of particles in which interparticle distances do not change and the
body cannot be deformed no matter how large a force is applied to it. Although a solid body
is not a rigid body, it can be so considered for most of the practical applications

ce
.c

In rotational motion of a body, all its particles move on circular paths having entres on a
definite straight line, called the axis of rotation. Kinematics deals with motion without
considering its cause, whereas dynamics deals with motion alongwith its cau e and properties
of the body.

7.2 Relations between variables of rotational and linear motion

( a ) Angular displacement:

ra

The figure shows a rigid body rotating about a fixed

axis OZ normal to the plane of the figure. P and P re
the positions of a particle of the body at time t and
t + t. Angle made by the line joining the partic e to
the centre of its rotation with a reference line OX
shows its angular position at time t. Simi arly, angle
+ is its angular position at time t + t.

xa

The change in angular position, of a particle is called

its angular displacement. The angular displacement of
the particle P is in time .

.e

As the interparticle distances do not change in a rigid body, all its particles will have the
same angular displacement i a given time. Hence, the angular displacement, , of the
particle P can be considere as the angular displacement of the rigid body.

w
w

( b ) Angular speed and angular velocity:

The average angul
<> =

speed of a particle or of the rigid body is defined as

angular displaceme nt
time interval

The instantaneous angular speed of a particle or of the rigid body is given by

lim

t0 t

The unit of is radian / s or rotation / s.

The direction of angular velocity is given by the right handed screw rule. When a right
handed screw is kept parallel to the axis of rotation and rotated in the direction of rotation
of the body, the direction of advancement of screw gives the direction of angular velocity.

( c ) Scalar relation between angular velocity and linear velocity:

As shown in the figure, the particle P covers a linear distance equal to the arc length PP

7 - ROTATIONAL MOTION

Page 2

in time t. Hence, average linear speed,

arc length PP'
t

<v> =

r
t

= r < >,

where r is the radius of the circular path.

v =

r
t0 t

r d
dt

lim

om

The instantaneous linear speed is given by

= r

ce
.c

( Note that the angular velocity of all particles of the rigid body rotating about a fixed axis of
rotation is the same for all the particles, whereas the linear speed of a particle depends
upon its distance ( r ) from the axis of rotation. )
Linear velocity is a vector quantity and its direction at any p int n the path of motion is
tangential to the path at that point. In the above equation, v, r nd are the magnitudes of

the vector quantities

and .

v, r

ra

Vector product of two vectors:

= l A l l B l sin n ,

A B

f two vectors

The vector product, also known as cross product,

between them is defined as

A and B having an angle

xa

where n is the unit vector norma to the plane containing A and B having direction given
by the right handed screw rule Whe a right handed screw kept perpendicular to the plane

A and B is rota ed from A towards B , the direction of advancement of screw

containing

.e

gives the direction of n .

Properties of vector product of two vectors:

A B

w
w
(1)

(2)

A (B + C)

B A

A B

A C

( 3 ) The cross product of two parallel

vector.

( 4 ) If

A B , then

A B

= AB n

(5)

^ ^
^ ^
^ ^
i i = j j = k k = 0

(6)

If

vectors, in the same or opposite directions, is a zero

^
^
^
A = Ax i + Ay j + Az k

and

and

sin 90 = 1 )

^ ^
^
i j = k,

^ ^
^
j k = i,

^ ^
^
k i = j

^
^
^
B = B x i + B y j + B z k , then

^
^
^

A B = ( A y Bz - A z By ) i + ( A z Bx - A x Bz ) j + ( A x By - A y Bx ) k

7 - ROTATIONAL MOTION

Ax

Ay

Az

Bx

By

Bz

A B =

Page 3

The position vector

w. r. t. the centre of the circular

path of a particle, angular velocity

and linear velocity v

ce
.c

om

( d ) Vector relation between angular velocity and linear velocity:

are shown in the figure. As v is perpendicular to the plane

formed by and r , the scalar relation

written in the vector form as

( e ) Angular acceleration:

ra

v = r can be

The average angular acceleration in the time i terval t is

< >

change in angular velocity

time interval

d
dt

.e

lim
t0 t

xa

and the instantaneous angular accele ation at time t is given by

rate of change of angular velocity.

w
w

is in the dir ction of and in the case of fixed axis of rotation, both are parallel to
2
2
or rotation / s .
the axis. The unit of is rad / s

( f ) Relation between linear acceleration and angular acceleration :

Di fer ntiating the equation

acceleration

dv
dt

d
( r ) =
dt

dr

dt

with respect to time gives the linear

d
r
dt

= ( v ) + ( r )
From the figure on the previous page and using right handed screw rule it can be found that

the direction of

v is radial towards the centre. Hence, it is called the radial component,

a r , of the linear acceleration

a .

7 - ROTATIONAL MOTION

is tangential to the circular path at the position of the

particle. Hence it is called the tangential component,

ar + a T

a .

( Q ar

ar 2 + a T 2

a =

a T , of the linear acceleration

= 0, that is the angular velocity is constant,

Even if

aT )

ar

om

Similarly, the direction of

Page 4

is not zero. As the angular

ce
.c

displacement, , angular velocity, and angular acceleration, are the ame for all the
particles of a rigid body, they are known as variables of the rotational kinematics.

7.4 Torque

Torque is a physical quantity of rotational dynamics whose

role in rotational motion is similar to the role of force in
translational motion.

( a ) Torque acting on a particle:

ra

Consider a particle P having position vector

w .r t. the

origin O of a co-ordinate system on which a f rce

acts

as shown in the figure. The angle betwe n r and F is .

r F

= r F sin =
( r s n ) = F ( OQ )
= ( F ) ( Perpendicular distance of the line of action of force from O )
= Moment of force w. r. t. point O

w
w

point O is

.e

acting on the part cle w. r. t.

xa

The torque
defined as

Thus, torque is the moment of force w. r. t. an arbitrarily selected reference point.

is a vector quantity. Its dimensional formula is M

L T2

and its unit is Nm.

The dire ion of

is perpendicular to the plane formed by r and F and is obtained
using the right handed screw rule. The magnitude and direction of torque depends on the
selec ion of the reference point and hence it is necessary to mention the reference point
ile defining the torque of a particle.

( b ) Torque acting on a system of particles:

As the internal forces between the particles of a system are equal in magnitude and opposite
in direction, the resultant torque due to them is zero. The resultant torque acting on the
system is the vector sum of torques acting on its particles having position vectors,

r1 , r2 , ... , rn due to external forces, F1, F2 , ... , Fn respectively.

r1 F1

+ r2 F2

+ + rn Fn

+ +

7 - ROTATIONAL MOTION

Page 5

( c ) Torque acting on a rigid body:

The figure shows a rigid body rotating about a fixed axis

OZ.

F1, F2 , ... , Fn are the forces acting on its particles

om

with position vectors r1 , r2 , ... , rn respectively.

The torque, , acting on the rigid body is the vector

sum of torques acting on its particles.

rn Fn

n
^

xn

yn

zn

Fnx

Fny

Fnz

as

the

ce
.c

ra

[ ynFnz - znFny ] i

+ [ znFnx - xnFnz ] j

rotation

is

Here,

considered

about

z-axis,

+ [ xnFny - ynFnx ] k
only the

z-component

of

torque

is

responsible for the rotation. In gen ral, if rotation is about a fixed axis with

xa

vector on it, the component of torque responsible for rotational motion is

as the unit

n.

.e

( d ) Physical explanation of the definition of torque:

Suppose a forc

acts on a particle P of a

w
w

rigid body, h ving position vector r w. r. t. O,

and the body otates about a fixed axis passing
through O and perpendicular to the plane of the

figure. The angle between F

and

is . The

F cos , parallel to

component of force,

is

ineffective in producing rotational motion. The component,

motion about the axis through O.

F sin , produces the rotational

More effective will be the rotational motion, larger the value of l F l, l r l and / or sin .
Thus, the effectiveness of rotational motion depends on rFsin which is known as torque.

Vectorially, Torque,

7 - ROTATIONAL MOTION

Page 6

Thus, torque is the measure of effectiveness of force in producing rotational motion.

( e ) Couple:

F1

and

F2 , acting at points P and Q of a rigid body

= r1 F1
= r1 F1

= l r1

- r2 F1

[ Q F2 = - F1 ]

- r2 ) F1 = l r1 - r2 l ( F1 ) sin ( - )

- r2 l F1 sin , where - is the ang e between r1 - r2 and F1 .

ra

= ( r1

+ r2 F2

Moment of a couple = Magnitude of force constituting couple perpendicular distance

between the wo for es.

ce
.c

having position vectors, r1 and r2 , respectively w. r. t. to O.

These forces are equal in magnitude and hence constitute a
couple. Here,

om

Two non-collinear forces, equal in magnitude and opposite

in direction, constitute a couple. The figure shows forces,

( f ) Equilibrium of a rigid body:

xa

If

F1, F2 , ... , Fn are the forces acting on a rigid body and

the torques on it due to these forces, then

.e

( i ) for translational equilibrium,

w
w

( ii ) for rotationa equilibrium,

Fxi

Fyi

n = 0

Fzi
n

7.5 Angular momentum

( a ) Angular momentum of a particle:

Consider a particle Q of mass m having position vector OQ

= r moving with velocity v and having linear momentum

and p is . The
p = m v . The angle between r
coordinate axes are so chosen that the particle and its
motion are in ( x, y ) plane.
The angular momentum of the particle w. r. t. point O is
defined as

l = r p = r p sin = p ( OR )

= 0 and

+ +

are

7 - ROTATIONAL MOTION

Page 7

= p ( perpendicular distance of linear momentum

vector from the reference point )
= Moment of linear momentum
2

The unit of angular momentum is kg m / s or Js.

Its dimensional formula is M L T - .

The direction of l is perpendicular to the plane formed by r and p and i obt ined using

the right handed screw rule. In the present case, l is in the OZ direction.

The magnitude and direction of

l depend on the selection of referen e point and hence
while defining the angular momentum of a particle it is necessary to mention the reference
point.
2

ce
.c

om

( b ) The relation between angular momentum of a particle

and torque acting on it:

l =

Differentiating equation

ra

d l
dt

= ( r

= ( r

xa

d l
dt

= rate of change of linear momentum = force F

and

dr
dt

velocity

F) + (v p)

F)

.e

But

r p w. r. t. to time

d r
dp
p
= r
+
dt

dt

d l
dt
dp
dt

( As

and

are in the same direction,

v p

= 0)

w
w

Thus, the time rate of change of angular momentum is equal to the torque. This statement
is similar to he Newtons Second Law of motion that the time rate of change of linear
momentum is equal to the force.

( c ) Angular momentum of a system of particles:

The angular momentum of a system of n particles having angular momenta l 1 , l 2 , ... , l n is

g ven by

dL
dt

=
=

l 1 + l 2 + ... + l n

d l1
d l2
d ln
+
+ ... +

dt

dt

dt

+ +

=
Thus, the time rate of change of total angular momentum of a system of particles is equal to
the resultant external torque acting on the system.

7 - ROTATIONAL MOTION

Page 8

( d ) Angular momentum of a rigid body:

All particles of a rigid body move on circular paths in a plane perpendicular to the axis of
rotation and hence their linear momenta are in this plane only. Taking position vector of each
particle w. r. t. the centre of its circular path, its angular momentum will be parallel to the

l 1 + l 2 + ... + l n

r1 p 1 + r2 p 2 + ... + rn p n

lL l

+ m 2 r2 2 + ... + mn rn 2

lL l

I l l,

( Q v = r

+ ... + mn rn 2 )

+ m 2 r2 2

( Q p = mv )

where I =

m1 r12

+ m 2 r2 2

+ ... + mn rn 2

ra

= ( m1 r12

( Q r p and all vecto s on R H. S. are parallel )

= r1 m1 v 1 + r2 m 2 v 2 + ... + rn mn v n
= m1 r12

( r1 p 1 ) + ( r2 p 2 ) + ... + ( rn p n )

ce
.c

and p are perpendicular to each other.

om

axis of rotation. Also, for each particle,

I is called the moment of inertia of the rigid b dy about the given axis of rotation.

L and

dL
dt

d
= I
dt

= I

= I .

xa

are parallel to the axis f rotation, L

As

.e

Law of conservation of angular momentum:

w
w

In the above equation, if = 0, L = constant. Hence, In the absence of resultant

external torque, the angular momentum of a rigid body remains constant. This statement is
known as the l w of conservation of angular momentum.

7.6 Geometrical representation of the law

of conservation of angular momentum
P

having mass m moves in an elliptical

Planet

orbit around the Sun with linear velocity v as

shown in the figure. The perpendicular distance of

v from the Sun is d.

the angular momentum of the planet w. r. t.

the Sun is

L = mvd ( 1 )

7 - ROTATIONAL MOTION
Area of the triangle SQP is

dA
dt

ds
1
(d)
dt
2

1
( SQ ) ( PQ ) =
2

A =

Page 9

1
(d)s
2

L
= constant
2m

om

PQ = s )

1
(d)v (2)
2

From equations ( 1 ) and ( 2 ), we get

dA
dt

torque due to gravitational force on P by the Sun w. r. t. the

ce
.c

Sun is zero and so L is constant. )

This equation represents Keplers second law for planetary motion s ated as The area swept
by the line joining a planet with the Sun per unit time, called areal velocity, is constant.
This is the geometrical representation of the law of conservation of ngular momentum.

7.7 Moment of inertia

= m1 r12 + m 2 r2 2 + ... + mn rn 2

mi ri 2

ra

If m1 , m 2 , ..., mn are the masses of the partic es of a igid body and r1, r2 , ..., rn are
their perpendicular distances from a given axis respect vely, then the moment of inertia of the
body corresponding to the given axis is given by

i=1

L = I

and

= I

are analogous to the equations of linear motion

.e

The equations

xa

The magnitude of moment of inertia depends on the selection of the axis and the distribution
1 2 0
of mass about it. Its S I unit is kg m and dimensional formula is M L T .

w
w

P = M v and F
M a respectively which shows that the moment of inertia plays the
same role in rotational motion as the mass plays in linear motion. The moment of inertia is
the inertia for rot tiona motion just as the mass is the inertia for linear motion.

7.8 ( a ) Radius of gyration

Suppose the rigid body of mass

mass m
M = mn.

consists of

particles each of

The moment of inertia of the body about a given axis,

= m r12 + m r2 2 + ... + m rn 2 =

M r12 + r2 2 + ... + rn 2
n

= MK

where, K is called the radius of gyration corresponding to the given

axis and is the mean of the squares of perpendicular distances of the
particles of the body from the given axis.

7 - ROTATIONAL MOTION

Page 10

7.8 ( b ) Two theorems regarding moment of inertia

The moment of inertia ( I )
of a body about a given
axis is equal to the sum of its moment of inertia I c about
a parallel axis passing through its centre of mass and the
product of its mass and square of perpendicular distance
( d ) between the two axes.
2

( ii ) Perpendicular axes theorem:

( a ) For laminar bodies:

ce
.c

I = Ic + Md

om

( i ) Parallel axes theorem:

For laminar bodies, the

moment of inertia I z
about Z-axis normal to its plane is equal to the
sum of its moments of inertia about X-axis,
I x and Y-axis, I y.

ra

Iz = Ix + Iy

xa

( b ) For three-dimensional bodies: The sum o

moments of inertia of a three dimensional b dy
about any three mutually perpendicu ar ax s
drawn through the same point is equa to twice
the moment of inertia of the body about that
point.
Ix + Iy + Iz = 2I0

.e

7.9 Calculation of momen of inertia of certain symmetric objects

w
w

( a ) Moment of inertia of a thin uniform rod about an axis,

passing through its centre and perpendicular to its length:
To calculate moment of inertia of a thin rod of length l and mass M about an axis yy
passing through its centre O and perpendicular to its length, consider O as origin and X-axis
along he length of the rod. A small element of length dx of the rod is at a distance x from
O

The moment of inertia of this element about yy is

dI =

M
dx x 2
moment of inertia of the rod,
l
l
l
+
+
2
3 2

M x
M
2
=

l dx x
l 3 l

l
-

M l3

3l 8

l3

M l2
12

7 - ROTATIONAL MOTION

Page 11

( b ) Moment of inertia of a thin ring or a thin walled hollow cylinder or

a thin walled hollow sphere:

om

As the entire mass, M, of a thin ring is at the same distance, equal to the radius R of the
ring from its centre, the moment of inertia of a thin ring about an axis passing through its
2
centre and perpendicular to its plane is MR . Similarly, the moments of iner ia f a thin
walled cylinder about its geometric axis or of a thin walled hollow sphere about its centre
2
are also given by MR , where M represents their mass and R their radii.

( c ) Moment of inertia of a disc or a solid cylinder:

ce
.c

To calculate moment of inertia of a disc of uniform thickness t

radius R and mass M about an axis passing through its centre and
perpendicular to its plane, consider an element of the disc in the
form of a thin ring of thickness dx at a distance x from its

d I = ( 2 x dx t ) x

( 2 t ) x dx
3

( 2 t ) x 3 dx

1
M R2
2

= ( 2

x4
t )

= 2 t

R4
4

1
2

( R 2 t ) R 2

.e

moment of inertia of the disc about an axis passing through its centre and perpendicular
to its plane is

xa

ra

centre. Mass of this ring is 2 x dx t , where is the dens ty

of the material of the ring. Therefore, the moment of nertia of the
ring about an axis passing through the centre, O, of the d sc and
perpendicular to its plane is

w
w

Similarly, moment of inertia of a solid cylinder about its axis is also

1
M R2 .
2

( d ) Moment of inertia of a thin walled hollow sphere about its diameter:

2

Momen of nertia of a thin walled hollow sphere about its centre is I 0 = MR .

By perpendicular axes theorem for three dimensional bodies, 2 I 0 = I x + I y + I z .

Now, I x = I y = I z = Moment of inertia,

I =

2
I0 =
3

I , of the hollow sphere about its diameter.

2
2
MR .
3

( e ) Moment of inertia of a solid sphere about its centre:

Let the solid sphere of mass M be of radius R. Consider a thin spherical shell of radius x
and of thickness dx. The mass of this shell is 4 x dx , where is the density of the
material of the sphere. Hence the moment of inertia of the shell about the centre O is
2

7 - ROTATIONAL MOTION
d I0 = 4 x

Page 12

dx x2

Therefore, the moment of inertia of the solid sphere about its

centre is

= 4

x 4 dx

3 R2
4
R3
5
3

x5

5

4 5
R
5

om

I0 = 4

3
MR 2
5

ce
.c

( f ) Moment of inertia of a solid sphere about its diameter:

The moments of inertia of the solid sphere about three mutually p rpendicular axes passing
through its centre given by I x, I y and I z are all e ual and represent the moment of
inertia, I, of the solid sphere about the diameter.
= Ix = Iy = Iz

ra

By theorem of perpendicular axes in three dimensions

I =

3
2
2
I0 =

MR 2
5
3
3

2
MR 2
5

2 I0 = I x + I y + I z = 3 I

xa

( g ) Moment of inertia of a solid cone about its geometric axis:

Consider a disc of radius r and th ckness dy at a height y
from the vertex of the cone
Mass of disc = dm = vo ume density = r dy .

.e

r 4 dy
( dm ) r 2
=
2
2
r
R
From the geom ry of the figure,
=
r =
y
h

M. I. of d sc = d I =

w
w

R4

dI

2 h4

I =

R4

2 h4

y 4 dy

y 4 dy =

R 4 h5
5
2 h4

3
MR2
10

R 4 y5

5
2 h4

3 1

R 2 h R 2
10 3

R
y
h

7 - ROTATIONAL MOTION

Page 13

Moment of inertia and radius of gyration for some symmetric bodies

Thin rod of length L

Ring of radius R

Thin-walled hollow cylinder of radius R

Ring of radius R

Circular disc of radius R

Geometric axis
Any diameter

Passing through its c ntre

perpendicular to its pla e

nd

R
2

Any diameter

1
MR 2
4
2
MR 2
3
2
MR 2
5

2
R
3
2
R
5

Geometric axis

3 2
R
10

3
R
10

Circular disc of radius R

Any diameter

Thin-walled hollow sphere of radius R

Solid sphere of radius R

Solid right circular cone of radius R

diameter

ra

An

xa

7.8 Comparison of translational motion and rotational motion

Linear velocity

Linear accele at on

Mass

w
w

.e

Linear displacement

inear momentum

Angular displacement
Angular velocity

a =

dv
dt

Angular acceleration

Moment of inertia

= m v

= m a

Force

Newtons Second Law of

motion

Translational kinetic
energy

K =

Work

W =

dP
dt

Result similar to
Newtons Second Law

1
mv 2
2

Rotational kinetic
energy

Work

d
dt

I
L

Torque

Angular momentum

2 3

1
MR 2
2

Geometric axis

MR

Passing through its centre and

perpendicular to its plane

Solid cylinder of radius R

I
1
ML2
12

om

Axis
Passing through its centre and
perpendicular to its length

ce
.c

Body

= I

= I

dL
dt

K =

1
I 2
2

W =

7 - ROTATIONAL MOTION

Page 14

10

Power

P = Fv

Power

11

Equations
of
linear
motion
with
constant
linear acceleration

v = v0 + at
1 2
d = v0t +
at
2
2
2
2ad = v - v0

Equations
of
rotational motion with
constant
angular
acceleration

= 0 + t

om

= 0 t +
2

2 =

1
2
t
2

- 02

ce
.c

7.11 Rigid ( solid ) bodies rolling without sliding

P =

Let a body of mass m, radius R, moment of

inertia I and radius of gyration K start rolling
from rest without sliding from the top of a
plane of height h inclined at an angle as
shown in the figure.

= mgh

whe e

Now, the P. E. lost by the body

ra

The body performs combined translational and

rotational motion achieving linear velocity v and
angular velocity at the bottom of the inclined
plane.

g is acceleration due to gravity

xa

and the K. E. gained by the body =

1
1
mv 2 + I 2
2
2

.e

By the law of conservation of mechanical energy,

1
1
mv 2 + I 2 ( 1 )
2
2
v
2
Putting =
and = m K
in the equation ( 1 ) above, we get
R
2 gh
2
v =

(2)
2

K
1 +

w
w

mgh =

f d is the length of the inclined plane and a is the acceleration of the body along it, then
v

= 2ad

2ah
sin

(3)

Comparing equations ( 2 ) and ( 3 ),

a =

g sin
2

1 + K

R 2

7 - ROTATIONAL MOTION

the decrease in the acceleration of the body due to the frictional force acting on it

g sin
2

1 + K

R2

K2
g sin
K2 + R2

om

= g sin

the frictional force,

K2
F = m g sin
K2 + R2

(4)

ce
.c

Page 15

The normal reaction N and m g cos balance each other.

N = m g cos

(5)

Dividing equation ( 4 ) by equation ( 5 ),

But

F
N

tan

ra

K2
=
K2 + R2

F
N

s ( co-efficient of static f iction )

K2

K2 + R2

tan

w
w

.e

xa

( Note: Frictional force, F, inc eases as the angle of inclination, , of the inclined plane is
increased till it reaches a aximum value = s N at a certain maximum value of .
For all values of le s than this maximum value, F < s N. )

or,

K2

K2 + R2

tan

for body to roll without sliding.

Special cases:

F r thin ring or thin-walled hollow cylinder, radius of gyration, K = R

1
tan
2

1
tan
3

2
tan
7

For circular disc or solid cylinder,

radius of gyration, K =

and for solid sphere,

radius of gyration, K =

2
R
5