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-> measure of the tendency of a force to cause rotation

r F
torque

Radial distance from

axis of rotation to
the point of action

Magnitude of Torque

rF sin
Angle between radius vector and force vector

r F

Note: Cross product operation obeys right hand rule.

Torque and Rotation

Out of the page torque
-> counterclockwise
rotation (positive)

Example 1. Applying a Torque

A weekend plumber, unable to loosen a pipe fitting, slips a piece of scrap pipe (a cheater)
over his wrench handle. He then applies his full weight of 900 N to the end of the cheater
by standing on it. The distance from the center of the fitting to the point where the
weight acts is 0.80m, and the wrench handle and cheater make an angle of 19o with the
horizontal. Find the magnitude and direction of the torque he applies about the center of
the pipe fitting

Into the page torque
-> clockwise rotation
(negative)

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Example 2. An unwinding cable

Find the acceleration of the cable.

Rotational Analogue of Newtons 2nd Law

Net (total)
torque applied
on a rigid body

Note: The direction of the net torque is the same with the angular acceleration.
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-> combined translation (linear motion) and rotation

Rolling w/out Slipping

vcm r

1
1
2
mvcm
I cm 2
2
2

Translation
(linear)

Rotation

Condition for Rolling w/out slipping

vcm r
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Example 3. Speed of a primitive yo-yo

A primitive yo-yo is made by wrapping a string several times
around a solid cylinder with mass 0.100 kg and radius 0.05m.
You hold the end of the string stationary while releasing
the cylinder with no initial motion. The string unwinds but do
es not slip or stretch as the cylinder drop or rotates.
(a) Find the velocity of the center of mass of the yo-yo
after it has dropped a distance 1m.
(b) Compare the velocity is just dropped directly with no
string (no rotation) from that height.

Example 4. Race of rolling bodies

In a physics demonstration, an instructor races various round rigid bodies by releasing
them from rest at the top of an inclined plane. What shape should a body have to reach
the bottom of the incline first?

F ma

I cm

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Example 5. Acceleration of a primitive yo-yo

For the primitive yo-yo in the previous example, find the downward acceleration and the
tension in the string.

translation

rotation

Valid only if:

1. The axis of rotation is an axis of symmetry
2. The axis must not change direction

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Example 6. Acceleration of a rolling sphere

A solid bowling ball rolls without slipping down the return ramp at the side of the alley.
The ramp is inclined at angle =30o to the horizontal. What are the balls acceleration and
magnitude of frictional force on the ball? Treat the ball as a uniform solid sphere, ignore
the finger holes.

Work Done by a Constant Torque

W
Power Output by a Constant Torque

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Example 7. Engine Power and torque

The power output of an automobile engine is advertised to be at 200hp at 6000 rpm.
What is the corresponding torque?
Example 8. Engine Power and torque
An electric motor exerts a constant torque of 10 Nm on a grindstone mounted on its shaft.
The moment of inertia of the grindstone about the shaft is 2.0 kg m2. If the system
starts from rest, find the work done by the motor in 8.0 s and the kinetic energy at this
time. What was the average power delivered by the motor?

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-> analogue of linear momentum

Lrp

r mv

Magnitude of angular momentum

L mvr sin

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For any system of particles, the rate of change of angular momentum of a body equals
the net torque acting on it

Angular momentum and moment of inertia

Li mi vi ri

L
t

(Single particle)

vi ri

Li mi ri
2

m r
2

i i

CONSERVATION of ANGULAR MOMENTUM

If the net torque on a system is zero, then the angular momentum is constant (conserved)

(system of particles)

Li L f

L I

I i i I f f
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Example 9. Anyone can be a ballerina

An acrobatic physics professor stands at
the center of a turntable, holding his arms
extended horizontally with a 5.0 kg dumbbell
in each hand. He is set rotating about a
vertical axis, making 1 revolution in 2.0s.
Find the profs new angular velocity if he
pulls the dumbbells into his stomach. His
moment of inertia (w/out the dumbbells) is
3.0 kg m2 when his arm are outsretched,
dropping to 2.2 kg m2 when his hands are at
his stomach. The dumbbells are 1.0m from
the axis initially and 0.20m from it at the
end.

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Example 10. Rotational Collision

Suppose the flywheel A has a mass of 2.0 kg,
a radius of 0.20m and an initial angular speed
of 50 rad/s and that clutch plate B has a
mass 4.0 kg, a radius of 0.10 m and an initial
angular speed of 200 rad/s. Find the
common final angular speed after the disks a
re pushed into contact. What happens to the
kinetic energy during this process?

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Example 11. Angular momentum in a crime bust

A door 1.00 m wide, of mass 15 kg, is hinged at
one side so that it can rotate without friction
about a vertical axis. It is unlatched. A police
officer fires a bullet with mass 10g and a
speed of 4m/s into the exact center of the
door, in a direction perpendicular to the plane
of the door. Find the angular speed of the
door just after the bullet embeds itself in the
door. Is the kinetic energy conserved?

PRECESSION -> happens when the axis of a rotating rigid body changes direction
GYROSCOPE
-> anything that undergoes precession
(Ex. Earth)

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Prob 1. Calculate the net torque about point O for the two
forces applied. The rod and both forces are in the plane of
the page.

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Prob 3. A hollow, spherical shell w/ mass 2.00 kg rolls without slipping down a 38.0o slope. (a) Find
the acceleration, the frictional force, and the minimum coefficient of friction needed to prevent
slipping. (b) How would your answers change if the mass were doubled?
Prob 4. Find the magnitude of the angular momentum of the second hand on a clock about an axis
through the center of the clock face. The clock hand has a length of 15.0 cm and mass 6.00g. Take
the second hand to be a slender rod rotating w/ constant angular velocity about one end.

Prob 2. A grindstone in the shape of a solid disk with diam

eter 0.520m, and a mass of 50.0 kg is rotating at 850
rev/min. You press an ax against the rim with a force of
160 N, and the grindstone comes to rest in 7.50 s. Find the
coefficient of friction between the ax and the grindstone.

Prob 5. Suppose that an asteroid travelling straight toward the center of the earth were to collide
with our planet at the equator and bury itself just below the surface. What would have to be the
mass of this asteroid, in terms of the earths mass M, for the day to become 25.0% longer than it
presently is as a result of this collision? Assume that the asteroid is very small compared to the
earth and that the earth is uniform throughout.

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