Rotational Dynamics
Basics
1
FORMULA
Torque
=I=dLdt
2
FORMULA
Angular Momentum
L=I
3
FORMULA
Kinetic Energy in Pure Rotation
K.E.=12I2
4
FORMULA
Angular Impulse in Pure Rotation
Angular Impulse = L
5
FORMULA
Torque and Force in Pure Rotation
=r F
6
FORMULA
L in Rotation + Translation
L=Icom+MrVcom
7
FORMULA
in Rotation + Translation
=Icom
F=Macom
8
FORMULA
K.E. in Rotation + Translation
K.E.=12I2+ 12MV2com
9
FORMULA
Linear velocity in Rotation + Translation
v=r+vcom
10
FORMULA
Friction in Rolling - Force above center
fs=[MRrIcomIo]F
11
FORMULA
Friction in Rolling - Force on Top most point
fs=[MR2IcomIo]F
12
FORMULA
Friction in Rolling - Force at Center
fs=[IcomIo]F
13
FORMULA
Friction in Rolling - Down an incline
fs=[IcomIo]Mgcos
14
FORMULA
Friction in Rolling - Force below center
fs=[MRr+IcomIo]F
15
FORMULA
Moment of Inertia - Basic defintion
M.I=r2dm
16
FORMULA
Total K.E of a rolling body :
K.Etotal=K.Etranslatory+K.Erotational
=12mV2c+12I2 =12mV2c(1+K2R2)
Where
Vc= Velocity of C.M
K= radius of gyration
R= radius
KEtrans.:KErot.:KEtot.=1:K2R2:(1+K2R2)
17
FORMULA
Velocity of Center of Mass:
Velocity of centre of mass is
VCM=m1v1+m2v2+.....m1+m2+.....
=total momentumtotal mass
18
FORMULA
Acceleration of centre of mass:
Acceleration of centre of mass is
aCM=m1a1+m2a2+......m1+m2+.....
=net external forcetotal mass
19
FORMULA
Torque or Moment of Force ():
It is the turning effect of a force.
Magnitude of torque = Force acting on the body x perpendicular distance between
line of action of force and axis of rotation.
=rF
The magnitude of Torque is
=rF sin
where = angle between r,F
Direction of torque is parallel to the axis of rotation or perpendicular to the plane
of rotation.
Magnitude of torque is maximum when r,F are perpendicular to each other.
Couple :
Two equal and opposite non-collinear forces simultaneously acting on a body
constitute couple. Couple always produces turning effect. Turning effect of couple
is called moment of couple. Magnitude of moment of the couple = magnitude of
one of the two forces of couple perpendicular distance between two forces.
Force in translatory motion is analogous to torque in rotational motion.
20
FORMULA
Moment of Inertia:
Moment of inertia of a particle of mass m is
I=mr2
where r = perpendicular distance of particle from axis of rotation
Moment of inertial of a group or system of particles is
I=m1r21+m2r22+......+mnr2n
I=S mr2
where m1,m2.......mn are masses of particles and r1,r2,...rn are their perpendicular
distances from axis of rotation
Moment of inertia of a rigid body of mass M is
I=MK2
where K = radius of gyration
K=r21+r22+......+r2nn
where n is total number of particles in the body and r1,r2......rn are their
perpendicular distances from axis of rotation
Moment of inertia in rotational motion is analogous (similar) to mass in
translatory motion.
21
FORMULA
Parallel Axes Theory:
I=IC+Md2
Where
I = Moment of inertia of a body about an arbitrary axis
IC=Moment of inertia of same body about a parallel axis to the first axis and
passing through centre of mass of body.
M = Mass of body
d = perpendicular distance between two parallel axes.
K2=K2C+d2
where KC=radius of gyration about the axis passing through centre of mass
K = radius of gyration about the parallel axis.
22
FORMULA
Perpendicular axes Theorem:
Ix+Iy=Iz
where Ix,Iy are moments of inertia of a body about two mutually perpendicular
axes in the plane of body (say X,Y axes) and Iz is moment of inertia of same body
about an axis perpendicular to the plane of the body and passing through the point
of intersection of first two axes (say z-axis).
K2x+K2y=K2z
where Kx,Ky,Kz are radii of gyrations about X,Y,Z axes respectively.
23
RESULT
Expressions for Moment of Inertia of Regular Rigid Bodies:
Rigid Body
Axis of Rotation
Moment of Radius of
Inertia (I) Gyration (K)
r to the plane of MR2
ring and passing
through its centre
r to the plane of
ring and passing 2MR2
through its rim
(or) passing
Circular ring of mass M and
through any
radius R
tangentr to the
MR2/2
plane of ring
In the palne of the
ring and passing
through its centre
(or) passing
through any
3MR2/2
diameter of ring
2R
R/2
3/2R
In the plane of the
ring and passing
through its edge
(or) passing
through any
tangent of ring in
its plane.
r to the plane of
plate and passing
through its centre
r to the plane of
plate and pasing
through its edge
(or ) passing
through any
tangent r to its
plane.
Thin circular plate of
mass M and radius R
MR2/2
3MR2/2
In the plane of
plate and passing
through its centre MR2/4
(or) passing
through any
diameter of plate
In the plane of the 5MR2/4
plate and passing
through its edge
(or) passing
through any
tanget of plate in
its plane.
Thin hollow sphere of mass
M and radius R
Passing through
its centre or any
diameter
Passing through
any tangent
Solid sphere of mass M and Passing through
radius R
its centre or any
R/2
3/2R
R/2
5R/2
2MR2/3
2R/3
5MR2/3
5R/3
2MR2/5
2R/5
diameter
7MR2/5
7R/5
Passing through
any tangent
r to the length of
Thin uniform rod of mass M
and L
rod and passing
through its centre ML2/12
L/23
r to the length of ML2/3
L/3
rod and passing
through its end
r to the plane
and passing
through its centre
r to the plane of
plate and passing
through a corner
In the plane of
plate r to
breadth and
passing
through centre of
plate.
Thin
uniform rectangular plate of
In the plane of
mass M Length L
plate r to
and Breadth B.
breadth and
passing
through edge of
plate
M12(L2+B2) L2+B223
M3(L2+B2)
MB2/12
B/23
MB2/3
B/3
ML2/12
L/23
In the plane of
plate r to length
and passing
through centre of ML2/3
plate.
In the pale of
plate r to length
and passing
L2+B23
L/3
through edge of
plate
r to the plane of
plate and passing
through its centre
r to the plane of ML2/6
plate and passing
through a corner
Thin square plate of mass M In the plane of
plate parallel to
and side length L.
any side and
passing through
centre of plate
In the plane of
plate and passing
through any
two opposite
corners
L/6
2ML2/3
2L/3
ML2/12
L/23
ML2/12
L/23
About
geometrical or
natural axis
Parallel to the
MR2
length of cylinder
and touching
its surface (or)
Thin hallow cylinder of
passing through
mass M radius R and Length
2MR2
line of contact of
L
cylinder with
floor when it is
rolling.
2R
M(L212+R22)
L212+R22
M(L23+R22)
L23+R22
r to the axis of
cylinder and
passing through
its centre
Solid cylinder of Mass
M radius R and length L.
r to the axis of
cylinder and
passing through
one end
MR2/2
About
geometrical or
natural axis
3MR2/2
Parallel to the
M(L212+R24)
length of cylinder
and touching
its surface (or)
passing through
M(L23+R24)
line of contact of
cylinder with
floor when it is
rolling.
R/2
3R/2
L212+R24
L23+R24
r to the axis of
cylinder and
passing through
its centre
r to the axis of
cylinder and
passing through
one end
24
FORMULA
Angular Momentum
Angular momentum = moment of inertia x angular velocity
L=I
Note: moment of linear momentum is also equal to angular momentum
L=rP (wherep=mv)
L = mvr sin\theta
where is angle between r and p
L = mvd where d is perpendicular distance between v and axis of rotation.
If a particle of mass m is moving along a circle of radius r at a speed v then
L = mvr
Direction of angular momentum is parallel to axis of rotation or perpendicular to
plane of rotation.
25
LAW
Law of Conservation of Angular Momentum:
Angular momentum of a rotating body remains constant when no external torque
acts on it.
i.e., I=constant when ext=0
(or) I11=I22
Consequences of Conservation of Angular Momentum :
A person holding dumb-bells in his stretched hands is on a turn table. If the person
folds his hands bringing dumb-bells close to his axis of rotation due to which his
moment of inertia decreases and his angualr velocity increases because angular
momentum I is constant.
A diver while diving down at highest position, folds his body close to his axis of
rotation due to which his moment of inertia decreases and his angular velocity
increases since angular momentum is constant. Hence the diver can make more
number of somersaults or acrobats (rotations)
2
Circular Motion
1
FORMULA
If acceleration is not constant then use the following relations
ddt=
d2dt2=
dd=
2
FORMULA
For non uniform circular motion,
a2=V2r=r2 ar: radial acceleration
atr=dvdt at: tangential acceleration
a=a2r+a2t
3
FORMULA
In uniform circular motion, at=0;a=ar=r2=V2r
=2T
a=r
V=r
ar=V
4
FORMULA
Banking of tracks : tan=v2Rg
5
FORMULA
Conical Pendulum
time period=2hg
6
FORMULA
Basic Definitions in Circular Motion
Angular Displacement ():
=arc lengthradius(r)
Note :
a) Small angular displacements are vectors and Large angular displacements are
not vectors
S.I unit : Radian
Angular Velocity:()
inst=ddt S.I Unit : radian sec1
avg=t
avg is the slope of the secant and inst is slope of the tangent for vs t graph.
Angular acceleration ():
inst=d dt S.I unit : radian/sec2
avg=t
avg is the slope of the secant and inst is slope of the tangent for vs t graph.
Direction of angular Quantities:
all Angular quantities are directed along the axis of rotation and perpendicular to
the plane of rotation.
7
FORMULA
Motion of a Body along Vertical Circle with non Uniform Speed:
L is length of a simple pendulum and m is mass of its bob. Let the bob is given a
velocity V along horizontal direction
The bob performs oscillations if V2gL
The bob describes vertical circle of radius L if V5gL
The bob neither performs oscillations nor describe vertical circle if
2gL<V<5gL
The bob starts to move in parabolic path from a point where tension in the string is
zero and retains circular path at same level on the other side.
If is angular displacement and h is height of the bob from lowest point of vertical
circle where tension in the string is zero then V=gL(23cos )
V=g(3hL)
Rotational Mechanics
1
FORMULA
Equation of constant Angular acceleration
w=w0+t
w2=w20+2
=w0t+12t2
2
FORMULA
Torque
=rF
=rFsin
=I
3
FORMULA
Angular momentum about an axis
L=Icomw+mVcomr
4
FORMULA
Total Kinetic Energy
K=KR+KT=12Icomw2+12mV2com
5
FORMULA
Combined Rolling and translational motion is superposition of translational and
Rotational motion.
6
FORMULA
Non Uniform Rolling
acom+R=a1
acomR=a2
7
FORMULA
Pure rolling on inclined Plane
fs=(IcomMR2+Icom)mgsin
fs=mgcos
8
RESULT
Conical Pendulum:
The bob is given a horizontal push a little through angular displacement and
arranged such that the bob describes a horizontal circle with uniform angular
velocity in such a way that the string always makes an angle with the vertical.
As the string traces the surface of the cone, the arrangement is called a conical
pendulum
Let T be the tension in the string of length and r the radius of circular path. The
vertical component of tension T balances the weight of the bob and horizontal
component provides the necessary centripetal force.
T cos=Mg
-(1)
From (1) and (2), we get
tan=r2gi.e.,=g tan r
But r=l sin and =2T
Time period of revolution
T=2l cos g
