Ch11 (Rotation of a Rigid Body about a Fixed Axis)

11.1 (Rotational Kinematics)

s : s r , r
rad 2 rad = 360 = 1 rev (rev = revolutions)
av

f i

t
t f ti

() lim
t 0

t
dt

rad/s 2 rad/s = 1 rev/s = 60 rev/min = 60 rpm

2
2f , T , f
T
vt r , r

av

f i

t
t f ti

() lim
t 0

t
dt

rad/s2 2 rad/s2 = 1 rev/s2

at : at r , r
ar

v2
r2 , v , r
r

a ar at , a ar2 at2

:
0 0t

1 2
t ,
2

0 t ,

2 02 2( 0 )

(11.7)

x x0 v0t

1 2
at
2

(11.8)

v v0 at
2
2
(11.9)

v v0 2a ( x x0 )

11.1 20 cm , 60 rad/s2, t = 0 , :
(a) =? (b) t = 0.25 s, ?
<Sol>
(a) at = r = (0.2 m)(60 rad/s2) = 12 m/s2
1
2

(b) 0 0t t 2 , 0 = 0, 0 = 0,
= (1.875 rad) / (2 rad/) = 0.298

40

1 2 1
t =
(60 rad/s2) (0.25 s)2 = 1.875 rad
2
2

 (Rolling): ,
vc R , R ,
,
, 2vc
: R = 0.2 m, = 60 rpm 1 min, = ?
<Sol> = 60 rpm = 1 rev/s = 2 rad/s
vc R = (0.2 m) (2 rad/s) = 0.4 m/s
= vct = (0.4 m/s) (60 s) = 75.4 m

11.2 B
, P
<Sol>
| R, t ,
, C ,

P vc Ri

B C vt R(cos i sin j )
B P

vB vc vt Ri R(cos i sin j ) R(1 cos )i R sin j

B P rB R sin i ( R R cos ) j R sin i R(1 cos ) j

rB vB [ R sin i R (1 cos ) j ] [ R(1 cos )i R sin j ] =0

11.2 (moment of inertia)
,
1
1
mi vi2 mi ri 22 ,
2
2
1
1
1 2
2
2
K i mi ri ( mi ri ) I
2
2
2

vi ri , K i
: K rot

I mi ri 2 (moment of inertia)
1
I CM 2
2
I mi ri 2

K rot

K K CM K rot

(11.13)

K CM

(11.14)

M mi

1
1
2
MvCM
I CM 2
2
2

41

1
2
MvCM
2

: m, L , A, B, C

L
2

L
2

<Sol> I A m( ) 2 m( ) 2

mL2
2

I B m 02 mL2 mL2
I C m 02 m 02 0

(parallel axis theorem):

O , vCM h K CM

1
M2 h 2
2

1
( Mh 2 I CM )2
2
O : I O Mh 2 I CM

K K CM K rot

11.3
2
2
I ri mi r dm

11.5 M, L , :
(a) , (b)
M
dx ( dx dm)
L
M
M L 2
M x 3 L ML2
(a) I end r 2 dm 0Lx 2
dx
[ ]0
0 x dx
L
L
L 3
3
3
2
M
M x 0.5 L
ML
(b) I CM r 2 dm 00.5.5LL x 2
dx
[ ]0.5 L
L
L 3
12
L
L
2
I end Mh I CM , h I end M
2
2

<Sol> dm

ML2
ML2

12
3

: M, R (a) (b)
M
<Sol>
R 2
2
(a) I r dm , dm 2rdr

I 0 r 2 2rdr 2 0 r 3dr 2[

x 4 R R 4
]0
4
2

M
M R 4 MR 2

R 2
R 2 2
2

MR 2
2
(b) I rim Mh I CM , I CM

, h = R I rim

2
MR
3MR 2
MR 2

2
2
2

11.4
42

 = + , E U K , K

1
1
2
MvCM
I CM 2
2
2

2 MR 2
,
5
MR 2

,
2

11.8 M, I CM
, I CM

, H
, ?
<Sol> y = H Ui = MgH ,
Ki = 0
Ei = MgH
y = 0 Uf = 0; K f

v
1
1
2
MvCM
I CM 2 , CM
2
2
R

1
1 I CM 2
2
MvCM

vCM ; Ei = Ef
2
2 R2
2MgH
2 gH
2 gH
2
vCM

vCM
1
1 I CM 2
2
MgH MvCM

vCM
I
I
I
M CM2 1 CM2
1 CM2
2
2 R2
R
MR
MR

Ef

I CM

v
2 MR 2

CM
5

I CM

v
MR 2
CM

2 gH
10 gH
2 = vCM
1
7
5
2 gH
1 = vCM
1
2

4 gH
3

: M, R=4 mm, I CM 19MR 2 yo-yo , ,

H=0.32 m , : (a) vCM =? (b) =?
<Sol> y = H = 0.5 M, y = 0, Ki = 0
1
1 I CM 2
2
Ei = MgH , Ef MvCM

vCM
2
2 R2
1
1 I CM 2
2
Ei = Ef MgH MvCM

vCM
2
2 R2
2MgH
2 gH
2 gH
v2

vCM
2
CM

I CM
I CM
I CM , I CM 19MR ,
M 2 1
1
R
MR 2
MR 2
gH
2 gH
9.8 0.32
=0.56 m/s

1 19
10
10
0.56
v
CM
= 140 rad/s = 22.3 rev/s
0.004
R

vCM

43

11.5 & 11.6 (Torque)

rF , Nm
, : = , I
11.11 M = 2 kg, R = 0.4 m , 600 rpm
I CM

MR 2
; N= 10 N , ,
2

k = 0.5, ?
<Sol> f k N =0.5(10 N) = 5 N rF = (0.4 m)(5 N) = 2 Nm
I

MR 2 1
, I CM
= (2 kg) (0.4 m)2 = 0.16 kgm2
I
2
2

2 Nm
=12.5 rad/s2 ( ); 0 = 20 rad/s
0.16 kg m 2

2 02 2

2 02
0 (20 rad/s) 2

=162 rad,
2
2 ( 12.5 rad/s 2 )

2
= 16 rad = 8 = 25.1

2 rad/rev

44