Chapter 6:

Angular Momentum and Fixed Axis Rotation

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 Force, Linear Momentum and Center of Mass

For Translational Motion

Torque, Angular Momentum and Moment of Inertia

For Rotational Motion

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 The General Motion of an Extended Body:

Combination of :

(i) Center of Mass Motion

(ii) Rotation Motion about the C.M

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 Angular Momentum of a Particle:

  
L  r P
With respect to a given coordinate system.

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Problem: Angular Momentum of a Sliding Block:
ẑ

0 ŷ
xA

About the origin.

x̂
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Problem: Angular Momentum of a Sliding Block:
ẑ
B

0 ŷ
xA

About B.
x̂
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 Torque

Torque due to a force F

 
  r F

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 Torque and Force

(a) (b) (c)

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Torque is important because it is intimately related
to the rate of change of Momentum.


 dL
 
dt

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Problem: Torque on a Sliding Block:
ẑ
B

0 ŷ
xA

About B.
x̂
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 Torque due to Gravity

mj

mj g
A

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Angular Momentum and Fixed Axis Rotation

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Here, we are concerned only
with the component along
the axis of rotation

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Dynamics of Pure Rotation about an Axis:

The Axis of Rotation is at Rest.

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Motion Involving Both Translation & Rotation

ŷ

0
x̂
 
 
Lz  I 0  R  MV
ẑ z

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Angular Momentum of a Rolling Wheel

ŷ

 b ω
R
0
x̂
ẑ
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Torque also naturally divides itself into two
components

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Kinetic Energy

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The Work Energy Theorem

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Problem: The Falling Stick :

y l
2
l /2 y ϴ

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Conditions of Equilibrium for a Rigid Body


 Fext  0

 0
ext

(About an Inertial Point)

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 Problem: 6.6 A man of mass M stands on a
railroad car which is rounding an unbanked turn
of radius R at a speed v. His center of mass is
height L above the car, and his feet are distance
d apart. The man is facing the direction of
motion. How much weight is on each of his
feet?

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Problem: 6.6

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Problem: 6.6

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 Problem: 6.18 Find the period of a pendulum
consisting of a disc of mass M and radius R fixed
to the end of a rod of length L and mass m. How
does the period change if the disk is mounted to
the rod by a frictionless bearing so that it is
perfectly free to rotate?

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Problem: 6.18

m
L
ϴ

R M

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Problem: A uniform ladder of length 2a is
supported by a smooth horizontal floor and leans
against a smooth vertical wall. The ladder is
released from rest in a position making an angle
of 600 with the downward vertical. Find the
energy conservation equation for the ladder.

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Problem: Show that the rod doesn’t maintain
contact with the wall all the way down, but
leaves the wall when ϴ becomes equal to
cos- (1/3)≈710

 2 3g
1  2 cos  
4a
  3g
2  sin 
2a
 3g
ϴ   sin 
4a

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The ladder will lose its contact when:
N H  Mx  0
x   a sin   2  a cos    0
 3g
a  sin   1  2 cos    a cos   sin    0
  3g
 4a   4a 
1
cos  
3
  710
NH NV
ϴ

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Problem: A rod AB of length L=1.8m and Mass M
is pivoted at the center O in such a way that it can
rotate freely the vertical plane. The rod is initially in
the horizontal , position. An insect S of the same mass
M falls vertically with speed v on the point C, midway
between the points O and B. Immediately after falling,
the insect moves toward the end B such that the rod
rotates with a constant angular velocity ω.

(a) Determine ω in terms of v and L.

(b) If the insect reaches the end B when the rod has
turned through an angle of 900, determine v.
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 S
g

A O C B

L/2 L/4 L/4

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 Summary of Dynamical Formulas for
Fixed Axis Motion

Pure Rotation About an Axis-No Translation

L  I

  I

1 2
K  I
2

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Rotation and Translation (Subscript 0 refers to
Center of Mass)

 
 
Lz  I 0  R  MV z

 
 
 z 0  R F z

 0  I 0

1 1
K  I 0  MV 2
2

2 2
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Problem: A roller with I0=(1/3)MR2 is released from
rest at the top of an incline of height h. It rolls without
slipping down the incline, and then a long way along a
horizontal road until it collides elastically with a
smooth rigid vertical wall. When the roller again
Begins to roll without slipping, what is the speed of the
centre of mass?

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Problem: A cotton flat tape reel is at rest on a
rough horizontal table when the free end of the
flat tape is pulled horizontally with a constant
force T. Given that the reel undergoes planer
motion, how does it move?(This is an in-depth
analysis of problem 6.26 of the Textbook)

V
a b
F T

C
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 V
a b
F T

C
The Equation of Motions:
dV
M T F
dt

d
Mk2
 aF  bT
dt
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 V
a b
F T

C
Let’s don’t make any assumption: Whether the
Reel slides or rolls.
Also, lets presume that the frictional force
bounded in magnitude by some maximum FMax

F Max
FF Max

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 V
a b
F T

C
Now, the reel slides or rolls depends on VC;
the velocity of the contact particle C.

V  V  a
C

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 V
a b
F T

V  V  a
C

dV C
dV d
 a
dt dt dt
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 V
a b
F T

C
The Equation of Motions:
dV
M T F
dt
2 d
Mk  aF  bT
dt
dV C
dV d
 a
dt dt dt
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 V
a b
F T

C
2 C
Mk dV
 T  F
k  ab dt
2

where:
k a 2 2
 2
k  ab
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 V
a b
F T

(i) Hard Pull: T  F Max

(ii) Gentle Pull: T  F Max

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O

h1
h2

h3

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 F
E
h1
L/2
ϴ

C
ϴ h2
D B
R h3
ϴ
A
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