Rotational motion

„ Point of the force application is

Chapter 8 important - results in different angular
acceleration to the object
„ Torques cause angular accelerations
Rotational Equilibrium
„ Force and torque are related
and „ Object has dimensions, need to find the
Rotational Dynamics position of the point where mass is
Part 2 concentrated

1 2

Definition of Torque Direction of Torque

„ Torque, τ, is the tendency of a force
to rotate an object about some axis :
„ τ = r F sin θ
„ F is the force
„ r is the length of the position vector
„ θ is the angle between the force and the
position vector
„ SI unit is N.m
3 4
„ Torque is a vector quantity
„ The direction is perpendicular to the
plane determined by the position
vector and the force
„ If the turning tendency of the force is
+ counterclockwise, the torque will be
positive
„ If the turning tendency is clockwise,
− the torque will be negative

Mechanical Equilibrium Axis of Rotation

„ 1st Condition - translational equilibrium „ If the object is in equilibrium, it does
„ The net external force must be zero
r not matter where you put the axis of
∑ F = 0r or r
rotation for calculating the net torque
„ The location of the axis of rotation is
∑ Fx = 0 and ∑ Fy = 0 „
completely arbitrary
Often the nature of the problem will suggest
„ 2nd Condition - rotational equilibrium a convenient location for the axis
„ The net external torque must be zero „ When solving a problem, you must specify
r an axis of rotation
∑τ = 0 or „ Once you have chosen an axis, you must
maintain that choice consistently throughout the
r r
∑τ x = 0 and ∑τ y =0
5
problem
6

1
 Calculating the Center of
Center of Gravity Gravity
„ The force of gravity acting on an „ The object is divided up
object must be considered into a large number of
very small particles of
„ In finding the torque produced by weight (mg)
the force of gravity, all of the „ Each particle will have a
weight of the object can be set of coordinates
indicating its location (x,y)
considered to be concentrated at a
single point Σmi xi Σmi y i
xcg = and ycg =
Σmi Σmi
7 8

Example of a Free Body Example of a Free Body

Diagram (Beam) Diagram (Ladder)
„ The free body
diagram includes
the directions of
the forces Fig 8.12, p.228

The weights act

Slide 17

„
The free body diagram shows the normal force
through the „
and the force of static friction acting on the
centers of gravity ladder at the ground
of their objects „ The last diagram shows the lever arms for the
forces

9 10

Torque and Angular

Acceleration Moment of Inertia
„ When a rigid object is subject to a net „ The angular acceleration is
torque (≠0), it undergoes an angular inversely proportional to the
acceleration analogy of the mass in a rotating
system
„ The angular acceleration is directly
„ This mass analog is called the
proportional to the net torque moment of inertia, I, of the object
Στ = Iα I ≡ Σmr 2
„ The relationship is analogous to ∑F = ma „ SI units are kg m2
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2
 Newton’s Second Law for More About Moment of
a Rotating Object Inertia

Στ = Iα „ A major difference between moment of

„ The angular acceleration α of
extended rigid object is directly
proportional to the net torque
„ The angular acceleration is inversely
proportional to the moment of inertia
of the object
inertia and mass: the moment of inertia
depends on the quantity of matter and
its distribution in the rigid object.
„ The moment of inertia also depends
upon the location of the axis of rotation

13 14

Moment of Inertia of a
Uniform Ring Other Moments of Inertia
„ Image the hoop is
divided into a
number of small
segments, m1 …
„ These segments
are equidistant
from the axis
I = Σmi ri2 = MR2

15 16

Example, Newton’s Second

Example: Problem #30 Law for Rotation
„ α =1.5 rad/s
2 m= m= „ Draw free body
1 2
diagrams of each
„ l1 = 6m object
Only the cylinder is
l2 = 4m
„
„
l1= rotating, so apply Στ
=Iα
The bucket is falling,
a) τ x -?
„
„ but not rotating, so
b)τ y -?
apply ΣF = m a
„ l2=
Remember that a =
c) τ o -?
„

„
α r and solve the
resulting equations
m3= m4= 17 18

3
 Rotational Kinetic Energy Total Energy of a System
„ An object rotating about some „ Conservation of Mechanical Energy
axis with an angular speed, ω,
has rotational kinetic energy
(KEt + KEr + PEg )i = (KEt + KEr + PEg )f
1  1 
KE r = ∑  mv 2  = ∑  mr 2ω 2  =
2  2  „ For conservative forces, no dissipative
forces such as friction can be present
1
2
(
∑ mr ω
2
)2
„ Potential energies of any other
conservative forces could be added
1 2
KE r = Iω
2 19 20

Work-Energy in a Rotating General Problem Solving

System
„ In the case where there are
dissipative forces such as friction,
use the generalized Work-Energy
Theorem instead of Conservation
of Energy
„ Wnc = ∆KEt + ∆KER + ∆PE
Hints
„ The same basic techniques that
were used in linear motion can be
applied to rotational motion.
„ Analogies: F becomes τ , m becomes
I and a becomes α , v becomes ω
and x becomes θ

21 22

Example: Problem#38 Angular Momentum

„ τ =25.0 Nm „ Similarly to the relationship between force and
momentum in a linear system, we can show
„ I = 0.130 kgm
2 r the relationship between torque and angular
„ θ = 15 rev
F momentum
r Angular momentum is defined as
„ ω = 0 θ ∆s
„

i
Ο L = Iω
ωf -? „ The net torque
∆L
∑τ = ∆t
„

23 24

4
 Conservation of Angular Conservation of Angular
Momentum Momentum, Example
„ The angular momentum of a system „ With hands and
is conserved when the net external feet drawn closer
torque acting on the systems is zero. to the body, the
skater’s angular
if ∑τ = 0, then speed increases
„ L is conserved, I
Li = L f decreases, ω
increases
I i ωi = I f ω f
25 26

Conservation Rules,
Example: Problem#50 Summary
„ m = 3 kg „ In an isolated system, the
„ l1 = 1 m following quantities are conserved:
„ ωi =0.75 rad/s

„ Ist = 3 kg m2 „ Mechanical energy E

„ l2 = 1 m
„ Linear momentum p
Angular momentum L
„ ω f -? „

„ KEi, KEf - ?
27 28

Example:
falling cat
As the cat falls, angular momentum
must be conserved.

Thus, if the upper half of the body

twists in one direction, something
must get an equal angular momentum
in the opposite direction.

Rotating the lower half of the body in

the opposite direction satisfies the law
of conservation of angular
momentum.
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