IITJEE Syllabus: 2.1 Motion of A Rigid Body

1.
IITJEE Syllabus
Moment of inertia, parallel and perpendicular axes theorems, moment of inertia of

bodies having simple geometrical shapes, e.g. uniform ring, disc, thin rod and
cylinder. Angular momentum and torque, conservation of angular momentum.
Equilibrium of rigid bodies
2.
Rotational Kinematics
A rigid body is a body with a definite and unchanged shape and size i.e. a body is said
to be rigid if the distance between any two particles of the body remains invariant.
2.1
Motion of a rigid body
Translation:
A rigid body is said to undergo translation if it moves such that it always remains
parallel to itself: this means that a line connecting any two particles of the rigid body
always remains parallel to itself throughout its motion.
Rotation:
A rigid body is said to undergo rotation if there exists a straight line from which the
distance of any particle of the rigid body remains constant throughout its motion. This
straight line, whether fixed or moving is known as the axis of rotation. The rigid body is
said to undergo rotation about this axis.
Angular Displacement:
Consider a rigid body undergoing rotation about an axis,
perpendicular to the plane of the paper and passing through
O. Suppose that A and B are any two particles of the rigid
body at the position 1 while A and B are their subsequent
locations when the body is at the position 2.
Since the body undergoes rotation,
OA = OA
and
OB = OB
Further AB = AB, since the body is rigid.
OAB OAB(congruent)
i.e.
AOB = AOB
Adding AOB to both sides of the above equation, we get,
BOB = AOA = (say)
This implies that in a given interval of time the angular displacements of all particles of
the rigid body undergoing rotation are identical.
Therefore, a single variable, viz. angular displacement () can be used to describe the
rotational motion of the rigid body.
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Angular displacement is not a vector quantity. However, for infinitesimal time

intervals, the corresponding angular displacement is infinitesimal and behaves like a
vector.
Average angular velocity is defined for a fixed axis of rotation, by
avg
2 1
,
t 2 t1
Instantaneous angular velocity is defined by
d
, the direction of (instantaneous)
dt
.
is along the axis n
Average and instantaneous angular accelerations are defined by
2 1
d
avg
,
t 2 t1
dt
Angular velocity is same for all the particles of a rigid body and the same is true about
angular acceleration also as and the reason being equal angular displace accment.
If the angular acceleration is constant, the following relations hold:
(t) = o + t
(t) = o + ot +
1 2
t
2
t = 20 2
2
Here o = magnitude of the initial angular velocity

(t) = magnitude of the angular velocity after time t.
o = Initial angular position.
(t) = Angular position after time t.
Illustration 1:
A fan starts rotating with constant angular acceleration of radians/s2

about a fixed axis perpendicular to its plane and through its centre.
Find
(a) the angular velocity of the fan after 4 sec.
(b) the angular displacement of the fan after 4 sec and
(c) number of turns accomplished by the fan in 4 sec.
Solution :
Here
= rad/sec2
0 = 0
t = 4 sec
(a) (4 sec) = 0 + ( rad/sec2) 4 sec = 4 rad/sec.
(b) (4 sec) = 0 +
1
( rad/sec2) (16 sec2) = 8 radian.
2
(c) Let the number of turns be n

n 2 rad = 8 rad
n=4
A wheel rotates with an angular acceleration given by = 4at3 - 3bt2 ,

where t is the time and a and b are constants. If the wheel has initial
angular speed 0, write the equations for the:
(i) angular speed
(ii) angle displacement.
Exercise 1:
2.2
Relation between linear and angular variables
Consider a particle A of a rigid body undergoing rotation

, the particle A describing an arc
about a fixed axis- n
ABA of a circle with its centre O on the axis of rotation.
Taking the origin at O, the position vector of A,
OA .
r
OA = OA = constant (radius of the circle)
AOA = (t) (say)
The arc length, ABA, S = r
dS d
r = r
The tangential velocity, vA =
dt
dt
The direction of the angular velocity vector be taken along the axis of rotation:
, n
being the unit vector along the axis of rotation.
= n
Then, v , instantaneous velocity of A with respect to the axis of rotation, can be written as

v r
The acceleration of the point A with respect to the axis of rotation is
dv
d d r
r
a=
If
dt
dt
dt
is constant, then = 0 and,

a v = r = 2 r

a r v
Illustration 2:
A disc rotates with constant angular acceleration of 2 rad/s 2 about a

fixed vertical axis through its centre and perpendicular to its plane. A
coin is placed on it at a distance of 1m from the axis of rotation. The
coin is always at rest relative to the disc. If at t = 0 the disc was at rest,
then find the total acceleration of the coin after one second.
Solution:
After 1 second angular velocity of the disc and hence that of the
coin about the axis of rotation is
= 0 + 2(rad/s2) 1 sec = 2 rad/s
aT = r = (2 rad/s2) 1 m = 2m/s2.
aR = 2 r = (2rad/s)2 1m = 4 m/s2
a=
2
a2T aR
2 5m / s2
3.
Rotational dynamics
3.1
Kinetic energy of rotation and moment of inertia :
A rigid body undergoes pure rotational motion about a fixed

axis n and its constituent particles move on circular paths
r1
v1
with radii r1, r2, ... and rn (say) with linear velocities v1 = r1,
r2
v2 = r2, ..... and vn = rn, being the angular velocity of the
v2
r3
rigid body.
v3
If m1, m2, ......... and mn are the masses of the respective
particles of the rigid body, then the kinetic energy of the
system is given by
1
1
1
m1v12 m 2 v 22 .......... mn v n2
K.E. =
2
2
2
1
1
1
m12r12 m22r22 .......... .. =
m1r12 m2r22 .......... mnrn2 2
=
2
2
2
The term
m1r12 m 2r22 .......... .... mnrn2
is called rotational inertia or moment of
inertia of the body or system of particles.

Rotational inertia of a particle of mass m is given by the following expression
I = mr2 ; where r = perpendicular distance of the particle from the axis of rotation.
Rotational inertia of a system of particles is given by the expression
n
I=
miri2
i 1
For a continuous distribution,

I = r 2dm
where dm is a small element of the body at a distance r, from the axis of rotation.
The kinetic energy of a rigid body, due to rotation, is given by
1
K.E. = I2
2
Moment of inertia of a system of particles depends on :
(i)
Axis of rotation
(ii)
Mass of the system
(iii)
Distribution of mass in the body
The moment of inertia of a rigid body about a given axis of rotation, is a constant.
Moment of inertia plays the same role in rotational motion as mass plays in
translational motion.
Illustration 3:
Calculate the moment of inertia of a thin ring of mass 'm' and radius
'R' about an axis passing through its centre and perpendicular to the
plane of the ring .
Solution :
Remember that in case of continuous mass distribution, we use the

2
formula I = dm r to find out the moment of inertia of the body
AA is the axis about which rotation of the ring is being considered.
Mass of the ring = M, length of the ring 2R, Mass per unit length of
= (say)
the ring =
2 R
A
Consider a small element of the ring at a polar

angle from a particular reference radius. The
element subtends an angle d at the centre.
Length of the element = Rd
Mass of the element ( Rd)
Moment of inertia of the element=( Rd) R2
Moment of inertia of the ring
=
R
d
I = mR2
Rd R 2
= MR2
Exercise 2:
Calculate the moment of inertia of a disc of radius R and mass M,

about an axis passing through its centre and perpendicular to the
plane
Moment of Inertia of some Common Bodies

(a) Ring
(b) Disc
(c) Cylinder
m
I = mR2
mR 2
I=
2
I=
(d) Rod
(e) Rod
mR 2
2
(f) Solid Box

a
L
L
I=
c
I=
mL2
12
(g) Solid Sphere
mL2
3
b
I=
m(a2+b2)
12
(h) Hollow sphere
R
m
2
mR 2
5
2
mR 2
3
Radius of Gyration:
The radius of gyration of a body is that distance from the axis of rotation, where a
particle of equal mass should be placed so as to possess the same moment of inertia
as the given mass distribution. Just as the centre of mass can be used to represent
the translational motion of a rigid body, its radius of gyration can be used to study
rotation.
I
m
For a body of mass m and moment of inertia I, radius of gyration k =
3.2
Parallel Axis Theorem
If the moment of inertia of a rigid body about an axis(n)

passing through its centre of mass is Icm, then the moment of
inertia of the body about an axis parallel to n, at a distance d
from the first one, is given by
I = Ic.m. + md2
This theorem is known as the parallel axis theorem.
Illustration 4:
m
G
d
Icm
Using the parallel axis theorem, find the M.I. of a sphere of mass m
2
mr 2 .
about an axis that touches it. Given that I cm
5
Solution :
Ip = Icm + m (OP)2
Ip = I0 + m (OP)2
=
3.3
2
7
m r2 + mr2 =
mr2
5
5
Perpendicular Axis Theorem
If the moment of inertia of a plane lamina about two mutually

perpendicular axes in its plane are Ix and Iy, then its moment of
inertia about a third axis (z) perpendicular to both the axes
and passing through the point of intersection is
IZ IX IY
This theorem is known as the perpendicular axis theorem.
Illustration 5 :
Using perpendicular axes theorem, find the M.I. of a disc about an

axis passing through its diameter.
Solution :
According to perpendicular axis theorem,

IZ
I X I Y
we know that I X I Y due to the geometrical symmetry of the disc.
IZ IX IY IX IY
IZ
2
where I Z M.I. of the disc about z axis passing through its center
1
perpendicular to its plane mr 2
2
1
M.I. I X I Y m r 2
3.4
Torque
Torque is the turning or twisting action of a force, acting on a body, about its axis of
rotation.
If a force F is acting at a point P on a rigid body, then the torque due to the force F
acting on the body, measured about the axis of rotation (n), is given by
r F , where r is p.v. of pt. P w.r.t. origin O.

Magnitude of the torque is equal to the
product of the force and the shortest distance
between the force and the axis of rotation.
= rF sin where = angle between r and
F.
Illustration 6:
A force
N
is
)
F (2
i 3
j 4k
applied
to
point
having
)
( 3
i 2
j k
position
vector
Find
the
m .
torque due to the force about the origin.
Solution:
r F
) ( 2
(3
i 2
j k
i 3
j 4
i
3
2
j
2
3
k
1
4
( 9 4)
[
i ( 8 3 ) j(12 2 ) k
) N-m
(5 i 10 j 5k
( 5)2 ( 10)2 (5)2 N m
Exercise 3:
= 56 N m.
A particle describes uniform circular motion. Find the torque acting

on it about the centre of the circle.
Work done by a Torque
Work done by torque , W = ;

= angular displacement
For variable torque, dW = d and W = d
Illustration 7 :
Solution:
A tangential force of F = 1.5 N acts on a particle of mass m = 2 kg

revolving in a circular path of radius r = 3m. What is the work done by
the torque for a complete revolution of the particle?
Work done by the torque is given by

W d where rF
W rF
d
0
Putting 2 for a complete revolution we obtain

W 2rF
W 2 ( 3 )(1.5 )9
Exercise 4:
Referring to the previous illustration, what is the work done by the

torque during the first second?
Pseudo Torque :
If motion of the body is observed from a non-inertial frame of reference having an
acceleration a in a fixed direction with respect to an inertial frame, one has to apply a
pseudo force (-ma) to each particle. These pseudo forces produce a pseudo torque
about the axis. In such a case ext = I does not hold.
But there exists a very special and very useful case when ext = I does hold even if
the angular acceleration is measured from a non-inertial frame A. That special case
occurs when the axis of rotation passes through the centre of mass.
3.5
Angular momentum
For a particle
having momentum
p,
the angular momentum about the point O is

p
Here r = position vector of the particle with respect to the given

point

L r p
and p = linear momentum of the particle.

r
The direction of L can be determined by using the rule for vector

O
products.
The magnitude of the angular momentum of a particle about a fixed point is equal to
the product of its linear momentum and the length of the perpendicular to the linear
momentum from the fixed point O.
Exercise 5:
Find the angular momentum of a particle of mass m describing a

circle of radius r with angular speed .
Illustration 8 :
A particle of mass m is projected with a velocity v at an angle with

the horizontal. Find its angular momentum about the point of
projection when it is at the highest point of its trajectory.
Solution :
At the highest point it has only

horizontal velocity vx = v cos
Length of the perpendicular to the

horizontal velocity from O is the
maximum height, where
Hmax =
v 2 sin2
2g
Angular momentum
L=
mv 3 sin2 cos
2g
Angular momentum of a rigid body:

Suppose that a rigid body describes pure rotational motion. All its constituent particles
also describe circular motion about the same axis of rotation.
The angular momentum of the particles about
their corresponding centres are given by
2
2
L1 = m1r1 , L 2 m2r2
r1
r2
and similarly Ln = mn rn2 where is the angular
r3
v1
v2
v3
speed of the body.

Therefore angular momentum of the whole body
is given by
L = L1 + L2 + ........... + L n
=
m r
2
11
m 2r22 .......... mnrn2 , as the angular momentum of all the
particles are in the same direction i.e. along the axis of rotation.
L = I
Relation between torque and angular momentum

L r p

dL
d r dp
p r
v mv r F
dt
dt
dt
= 0 + r F ext
dL
ext
dt
dp
Fext
This relation is analogous to
dt
3.6
Conservation of Angular Momentum
When there is no net external torque acting on a particle, then
L = constant
dL
0.
dt
Therefore, the angular momentum of the particle remains invariant in the absence of
any net external torque.
Condition under which Torque acting on a body is Zero
r Fsin
0 , when r = 0, that means that the force passes through the axis of
rotation.
0 , when F = 0 (or negligibly small) that means no external force acts on
the particle.
0
when = 00 or 1800 the force is parallel to the radius vector. (Radial

forces cannot impart any torque on the particle i.e. centripetal force causes no torque).
When any or all of the above conditions are satisfied, = 0 and thus the angular
momentum of the particle is conserved. That means the particle will keep on rotating
with a uniform or constant angular velocity.
Exercise 6 :
What is the moment of the gravitational force of the sun on earth

about the axis of its rotation about the sun?
Relation between torque and angular acceleration :

Suppose that the angular speed of a body changes from to
(+) in a very small time interval t. If the angular
displacement of the body during this time interval is =(t)
then
from the Work Energy Theorem.

1
=
I(2 ),
2
where = average torque during this time interval.
= K.E. (of rotation)
t = I (as = t)
=I
t
Similarly instantaneous torque is given by
=I
= I
Illustration 9:
A uniform disc of radius R and mass M is free to rotate about a fixed

horizontal axis perpendicular to its plane and passing through its
centre. A string is wrapped over its rim and a block of mass m is

attached to the free end of the string. The block is released from rest.
If string does not slip on the rim then find the acceleration of the
block. Neglect the mass of the string.
Solution :
Since string does not slip on the disc hence tangential acceleration
of the point on the rim which is in contact with the string is equal to
the acceleration of the block. Let angular acceleration of the disc
about axis be , hence acceleration of the block a = R
F.B.D. of the Block
F.B.D. of the Disc.
T
a
T
mg
mg - T = mR, as a = R . . (1)
Eliminating T from (1) and (2),

mg
2mg
2
m
MR ,
=
mR
R
as I =
Torque on the disc is

= Tension + Mg
I = TR as mg = 0
Where I = M.I. of the
disc about the axis.
T = I/R
. . . (2)
MR 2
2
Hence a =
3.7
Mg
2mg
.
2m M
Angular impulse
The angular impulse delivered by a torque in a given time interval is equal to the
change in angular momentum. If angular momentum of a body is changed by a torque
during the period from a time t1 to a time t2, then

t2
J dt where J = angular impulse.

t1
t2
t1
L2
dL
dt dL
dt
L1
J L 2 L1 L
4.
Combined rotation and translation
In this type of motion, the axis of rotation is not stationary. If a body rotates about an
axis with angular velocity then the linear velocity of any particle located at a
distance r from the axis of rotation, measured with respect to the axis of rotation

v r

If the axis of rotation also moves with velocity v o with respect to a frame of reference,
then the velocity of the particle relative to that frame will be

v r vo
4.1
Rolling Motion
If velocity of the surface on which a body is rolling is v s (with respect to a frame) and
R is the radius of the body, which is rotating with an angular velocity around an axis,
then the condition
for pure rolling is,
R vo v s
where v o is the velocity of the axis with respect to the frame.
If v s 0 then the condition for rolling is vo = R

L
Illustration 10:
A cylindrical drum, pushed along

by a board rolls forward on the
ground. There is no slipping at
any contact. Find the distance
moved by the man who is
pushing the board, when axis of
the cylinder covers a distance L.
Solution :
Let vo be the linear speed of the axis of the cylinder and be its
angular speed about the axis. As it does not slip on the ground
hence
vo
. Where R is the radius of the cylinder.
R
v = v o + R
Speed of the topmost point is
v = vo + R = 2vo
Since time taken by the axis to move a
distance L is equal to t = L/v o.
In the same interval of time distance
moved by the topmost point is
v = v o R
L
2L
S = 2vo
vo
As there is no slipping between any point of contact hence distance
moved by the man is 2L.
4.2
Energy of a rolling body
The translational K.E. of a rolling body

1
K.E. t mv 2
2
and, the rotational K.E. of a rolling body
1
K.E.r I 0 2
2
Since we know that I 0 mk 2 and for rolling
K.E.r
1
mk 2
v
r
v 2
1 k2
mv 2
2 r2
r 2
...(b)
Therefore, the total K.E. of the rolling body = K.E. = K.E. t + K.E.r
Putting v r for rolling, we obtain the total K.E. in terms of as
1
k2
1
K.E. m (r ) 2 1 2
K.E. (mr 2 mk 2 ) 2
2
2
r
2
Since mk = M.I. of a body about its center of mass O I O
mk 2 mr 2 I0 mr 2 IP where IP M.I.
of
the body about P.

Therefore we conclude that, the combined effects of translation of center of mass of a
body and its rotation about an axis passing through the c.m. are equivalent to its pure
rotation about an axis passing through the point of contact P, of the rolling body.
K. E. t
% energy of translation =
100
K. E.
1 mv
12 mv 1 kr
2
r2
100
100
k 2 r 2
similarly,
% energy of rotation
k2
100
k2 r2
Illustration 11:
A thin hollow sphere of mass m = 2kg, radius = 1/2 m rolling on a

horizontal surface with a constant frequency n = 60 rpm. Find the
total mechanical energy of the hollow sphere.
Solution :
Translation K.E. K.E. t
1
mv 2
2
1
Rotational K.E. K.Er
I2
2
Total
energy
1
1
E K.E.t K.E.r
mv 2
I 2
2
2
2
v r , & I
mr 2
For rolling
we
3
obtain
1
1 2
E
m(r )2
mr 2 2
2
2 3
1
2
5
E mr 2 2 1 mr 2 2
2
3
6
Exercise 7 :
4.3
E ( 5 / 6)mr 2 (2 n) 2
E = 16.35 J.
10
m 2r 2n 2
3
10
1
( 2 kg) (3.14) 2 m
2
3
60
60 sec
Referring to the previous illustration,

(a) what fraction of energy is translational?
(b) what is the ratio of translation & rotational K.E.?
Role of friction in rolling motion
If a body rolls without slipping such that the velocity of its centre of mass does not
change then no frictional force acts on the body.
However, If a force acts on the body, the velocity of its centre of mass or its angular
velocity about the centre changes and, there is a tendency of the body to slide at its
point of contact. Thus, friction force acts on the body to oppose this tendency to slide.
4.4
Rolling on inclined plane
METHOD - I (Force- torque method)

When a body rolls without slipping along an inclined plane, there are three forces
acting on the body
(1)
mg - weight
(2)
N - Normal reaction
(3)
f static friction
Force Equation :
Suppose that the body accelerates down the plane with an
acceleration a.
The net force parallel to the plane
Fx (mgSin f ) ma
...(i)
Since the body does not move perpendicular to the plane,

the net force acting on it along the perpendicular is zero.
Fy N mg cos 0
...(ii)
Torque Equation:
Since mg & N pass through the centre O of the rolling body,

torque about O due to these is zero. The torque due to
friction, clockwise about O is
fr sin90
fr
We know that = Icm, = Io
fr = Io
...(iii)
Constraint :
Pure rolling implies that the point of contact P does not slide. It means that both
velocity as well as acceleration of P relative to the plane must be zero, i.e. v P=0 and
ap= 0.
We know that, a P a O a PO
aP = [ao aPO] putting aP = 0
aP = 0, we obtain 0 = aO aPO aPO = aO

r a
...(iv)
a
from (iv) and Io = mk2 in (iii)
r
a
we obtain fr mk 2 .
r
Putting =
mk 2
f 2 a
r
...(v)
aPO = r
P
a
a0 = a
Acceleration :
By putting the value of f from (v) in (i) we obtain,
mk 2
mg sin 2 a ma
r
gsin
2
1k
r 2
Minimum friction required to sustain rolling :

Putting the obtained value of a in (v) we get,
mg sin
f
r2
1
k2
mgsin
f
r2
k 2
where f = the minimum friction required to sustain rolling. The maximum value of static
friction fmax N. Putting N = mg cos, we obtain f max = mgcos
Minimum coefficient of friction for sustained rolling
Since f fmax , putting the value of f & fmax

mg sin
mg cos
2
we obtain r
2 1
k
tan
r2
1 2
k
tan
k2
2
min
tan
r2
1 2
k
If min , sliding occurs along with rotation.

METHOD - 2 ( Energy method)
We see that, the point of contact P does not slide in pure rolling. That means the point
of application of frictional force f, does not move. Therefore, the work done by the
friction is zero in pure rolling. That is why the total mechanical energy of the rolling
body remains constant. The total energy of the rolling body between two positions 1 &
2, remains conserved. We obtain, ( PE) 1 2 ( KE) 1 2 0
1
k2
mgh mv 2 1 2 0
2
r
1
h
2gh
k2
1 2
r
( K.E) 1 2 K.E. 2 K.E.1
a
v
1
k
mv 2 1 2
2
r
1 2
k2
mv 1 2
2
r
Using linear kinematics,

We obtain v 22 v 12 2 a
putting
v2 v
Illustration 12 :
2gh
& h sin
, we obtain a.
k2
1 2
r
A uniform disc of mass m and radius R
rolls without slipping up a rough inclined
plane at an angle of 300
with the
horizontal. If the coefficient of static and
kinetic friction are each equal to and the
only force acting on the disc are gravity
and friction, then find the direction and

magnitude of the friction force acting on it.
Solution :
Since disc does not slip friction is F.B.D. of the disc.

N
static and static friction can have
any value between 0 and N.
Component of mg parallel to the

plane is mgsin which is opposite to
the direction of motion of the centre mgsin

of the disc, and hence speed of the
mgcos
centre of mass decreases. For pure
mg
rolling the relation vc.m.= R must be
obeyed. Therefore must decrease.
Only friction can provide a torque
about the centre.
Torque due to friction must be opposite to the . Therefore

frictional force will act up the plane.
Now, for translational motion
mg sin- f = mac.m.
. . . .(i)
For rotational motion
fR = I, where I = M.I. of the disc about centre.
a
= I
cm, as a = R
R
ac.m. =
fR 2
I
. . . (ii)
From (i) and (ii) we get,

mg sin
mR 2
I
Putting the value of and I we get

= mg/6
Illustration 13 :
A solid cylinder of mass m and radius r starts rolling down an inclined

plane of inclination . Friction is sufficient to prevent slipping. Find the
speed of its centre of mass when, its centre of mass has fallen a height h.
Solution :
Considering
the
two
shown
positions of the cylinder. As it does
not slip hence total mechanical
energy will be conserved.
Energy at position 1 is E1 = mgh
Energy at position 2 is E2 =
1
h
1
1
mv c2.m. Ic.m.2
2
2
2
v c.m.
, and Ic.m. = mr
2
r
3
mv c2.m.
4
From COE, E1 = E2
4
vc.m. =
gh
3
E2 =
Note: In the previous example we used conservation principles, while in the one
before we used Newtons laws. Either one leads to the correct result, it is only a
matter of convenience as to which method we choose. Conservation of angular
momentum also helps in tackling problems concerning collisions of rolling bodies.
Applying the principle of conservation of angular momentum about the point of
collision helps to eliminate the external torques due to large impulsive forces.
Illustration 14 :
Solution :
A rigid rod of mass m & length is pivoted at one of its ends. If it is

released from its horizontal position, find the speed of the center of
mass of the rod when it becomes vertical.
1
Suppose that in the vertical
P
position the speed of the c.m.

of the rod is v
v
.
OP
v 2 v
...(i)
/ 2
the total K.E. of the rod about

the point P is given by,
1
K.E. IP 2
...(ii)
2
IO
m 2
2
m / 2
12
IO
m 2
3
h = /2
O
2
where IP I O m(OP) 2
...(iii)
Using (b) & (c)

K.E.
1 m 2
2

2 3
K.E.
m 2 2
6
...(iv)
Using (a) & (b)

K.E.
m 2 2v
2
mv 2
3
...(v)
Since the rod is released from rest, its K.E. at the position 1
I K. E.1 0
The change in K.E. = between the position 1 and 2
= K.E. = K.E2 K.E1
K.E. =
2
2
mv 2 0 mv 2
3
3
. . . (vi)
Since the rod falls through a vertical distance =
, its gravitational
2
potential energy decrease, change in P.E. is mg
mv 2 mg
3
2
3g
4
3 g
2
Illustration 15:
A plank of mass M rests on a smooth horizontal plane. A sphere of

mass m is placed on the rough upper surface of the plank and the
plank is suddenly given a velocity v in the direction of its length. Find
the time after which the sphere begins pure rolling, if the coefficient
of friction between the plank and the sphere is and the plank is
sufficiently long.
Solution :
Let t be the time after which slipping

between the sphere and plank
disappears.
For the sphere,
N = mg, N = mas
as = g
2
= I mgr =
mr2
5
5g
2r
For the plank,
mg
N = Map a p =
M
After time t,
mg
vp = v t
velocity of plank,
M
velocity of sphere,
vs = gt
5g
t
angular velocity of sphere, =
2r
For no slipping, the point of contact of
sphere should have same speed as that
as
mg
N
N
Sphere
vs
ap
Plank
vp
of plank,
vs + r = vp
Substituting and solving,
mg
5g
gt +
t r = v t
M
2r
4.5
t=
2v
g 2 + 5 + 2 m
2v
g[7 (2m / M)]
Instantaneous axis of rotation
The instantaneous axis of rotation is perpendicular to the plane of rotation and passes
through the point which is momentarily at rest.
About the instantaneous axis of rotation the combined motion can be treated as pure
rotational motion.
A perpendicular drawn to the axis of rotation from any point in the body is also
perpendicular to the velocity of that point.
Angular velocity of the body about instantaneous axis is same as that about its centre.
Exercise 8:
A light rigid rod of length 1m is constrained to move in a vertical

plane, so that its ends are along the x and y axes respectively. Find
the instantaneous axis of rotation of the rod when it makes an angle
with horizontal.
Angular momentum of a body in combined translational and rotational motion

Suppose that a body is rotating about an axis passing through its centre of mass with
an angular velocity cm and translates with a linear velocity v. Then the angular
momentum of the body measured about a point P outside the body in the lab frame is
given
by,

L P L cm r p cm
where r is the position vector of the centre of mass with respect to point P.
Hence,

L P Icm r mv cm
Exercise 9:
A sphere rolls without slipping on a rough surface with centre of mass

having constant speed v0. If mass of the sphere is m and its radius be R,
then find the angular momentum of the sphere about the point of contact.
Exercise 10:
Shown in the figure is a rod which moves with v = 2m/sec & rotates with
2 rad / sec` . Find the instantaneous axis of rotation.
5.
Solutions to the Exercises
Solution 1:
(i)
d
d = dt
dt
d =
(ii)
(4at
3bt 2 ) dt
= 0 + at
bt 3
Further,
=
d
d = dt
dt
d = dt (0 + at 4 - bt 3 ) dt
= 0 t +
Solution 2 :
dt =
at
bt
5
4
Consider a thin elemental ring of thickness

'dr' at a radial distance 'r'.
Mass of the disc = M
M
Mass per unit area of the disc =
R2
dr
r
Area of the ring = 2r dr

Mass of the ring = (2r dr)
Moment of the ratio of the ring = Mass (r)2
Solution 3:
Moment of inertia of disc =
2 dr dr 2
R4
2
MR 2
2
r F , where F = net force.
In uniform circular motion r and F are

collinear (but oppositely directed)

r F 0

L r p
as linear momentum p
is along the tangent,
hence
,
r p rpn
where
n unit vector perpendicular
to the plane of the circle.
Solution 4:
L mvr m r ,
Using the work energy theorem

2
W=
=
Solution 5:
1
1
Fr
t
(mr2)2 = mr 2
2
2
mr 2
1 F2 t 2
= 0.56 N-m.
2
m
Since the gravitational force
GMm
F
ar
r2
The torque of the force F about the sun =
GMm
r2
ar
1
mv2
2
1 2
mr 2 ( 2 )
KErotation =
2 3
Solution 7:

r F
GMm
( r ar ) 0
r2
KEtranslation =
(v = r), KErotation =
1
mv2
3
5
1 1
mv 2 mv 2
6
2 3
KEtotal =
KE trans
1/ 2 mv 2
3
2
KE total
5
5 / 6 mv
KErotation
1/ 3 mv 2
2
.
2
KE total
5
5 / 6 mv
Solution 8:
Solution 9:
If we drop perpendiculars upon v 1
and v 2 , they meet at 0. Therefore

0 is the instantaneous point of
rotation and the axis passing
through is perpendicular to the
plane of rotation is known as axis
of rotation.
The coordinates of 0 is given as
cos and sin respectively.
O
v1
v2
Icm R m v cm
Since LP L cm r pcm
Since sphere is in pure rolling motion

hence = v0/R
Lp =
Solution 10:
v0
P
2
v
7
MR2 0 Mv 0R Mv 0R
5
R
5
Let P be a point on the

instantaneous axis of rotation.
Therefore v P 0 .
| v PO v O | 0
v PO v O 0
v PO v O
where v O v & v PO (OP)
( OP ) v
OP v /
2
1
m.
2.
O
P
v = 2 m/s
v

IITJEE Syllabus: 2.1 Motion of A Rigid Body

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IITJEE Syllabus: 2.1 Motion of A Rigid Body

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1.

Moment of inertia, parallel and perpendicular axes theorems, moment of inertia of

Motion of a rigid body

Angular displacement is not a vector quantity. However, for infinitesimal time

Instantaneous angular velocity is defined by

Average and instantaneous angular accelerations are defined by

Here o = magnitude of the initial angular velocity

A fan starts rotating with constant angular acceleration of radians/s2

(c) Let the number of turns be n

A wheel rotates with an angular acceleration given by = 4at3 - 3bt2 ,

Relation between linear and angular variables

Consider a particle A of a rigid body undergoing rotation

The acceleration of the point A with respect to the axis of rotation is

is constant, then = 0 and,

A disc rotates with constant angular acceleration of 2 rad/s 2 about a

Kinetic energy of rotation and moment of inertia :

A rigid body undergoes pure rotational motion about a fixed

m1r12 m 2r22 .......... .... mnrn2

is called rotational inertia or moment of

inertia of the body or system of particles.

For a continuous distribution,

Mass of the system

Distribution of mass in the body

Remember that in case of continuous mass distribution, we use the

Consider a small element of the ring at a polar

Calculate the moment of inertia of a disc of radius R and mass M,

Moment of Inertia of some Common Bodies

(f) Solid Box

(g) Solid Sphere

(h) Hollow sphere

For a body of mass m and moment of inertia I, radius of gyration k =

Parallel Axis Theorem

If the moment of inertia of a rigid body about an axis(n)

Perpendicular Axis Theorem

If the moment of inertia of a plane lamina about two mutually

Using perpendicular axes theorem, find the M.I. of a disc about an

According to perpendicular axis theorem,

we know that I X I Y due to the geometrical symmetry of the disc.

r F , where r is p.v. of pt. P w.r.t. origin O.

= rF sin where = angle between r and

torque due to the force about the origin.

( 5)2 ( 10)2 (5)2 N m

A particle describes uniform circular motion. Find the torque acting

Work done by a Torque

Work done by torque , W = ;

A tangential force of F = 1.5 N acts on a particle of mass m = 2 kg

Work done by the torque is given by

Putting 2 for a complete revolution we obtain

Referring to the previous illustration, what is the work done by the

the angular momentum about the point O is

Here r = position vector of the particle with respect to the given

and p = linear momentum of the particle.

The direction of L can be determined by using the rule for vector

Find the angular momentum of a particle of mass m describing a

A particle of mass m is projected with a velocity v at an angle with

At the highest point it has only

Length of the perpendicular to the

Angular momentum of a rigid body:

and similarly Ln = mn rn2 where is the angular

speed of the body.

m 2r22 .......... mnrn2 , as the angular momentum of all the

Conservation of Angular Momentum

When there is no net external torque acting on a particle, then