PHY 101

MODULE 5 : ROTATIONAL
KINEMATICS AND ROTATIONAL
DYNAMICS

BY CYNTHIA MWANSA
 ROTATIONAL MOTION
OBJECTIVES
• Describe Rotational equilibrium and torque
• Describe Angular acceleration and momentum
• Describe Rolling motion Momentum
• Describe Moment of inertia for Uniform body
• Describe Rigid body rotation mathematically and solve problems
 TORQUE
Torque is the turning effect of the force about the axis of rotation.

The moment of force is called Torque.

Torque is positive for a force that causes or tends to cause counterclockwise rotation and
vice-versa.

The rate at which there is a change in angular momentum is also called Torque.

Any force whose line of action is not directed towards the axis of rotation or the center of
mass for an object will provide a Torque on that object.
 TORQUE
Torque = perpendicular distance from the axis of rotation x Force

τ=rxF

τ = r F sinθ

where,
r = a distance between the point from which torque is measured to the point where force is
applied
τ is the torque and
F = force applied
Its dimensional formula is [M L2T-2], which is same as that of work. The S.I unit of torque is
Newton-meter (N.m).
 EXAMPLE 1
A one-piece cylinder is shaped as shown below with a core section protruding
from the larger drum. The cylinder is free to rotate about the central axis shown in
the drawing. A rope wrapped around the drum, which has radius R1 = 1.0m, exerts a
force T1 = 5N to the right on the cylinder. A rope wrapped around the core, which
has radius R2 =0.5m, exerts a force T2 =15N downward on the cylinder.
What is the net torque acting on the cylinder about the rotation axis
 SOLUTION TO EXAMPLE 1
The torque due to T1 is -R1T1. (The sign is negative because the torque tends to
produce clockwise rotation.) The torque due to T2 is R2T2. (The sign is positive
because the torque tends to produce counterclockwise rotation.) Therefore, the
net torque about the rotation
axis is
 CENTER OF GRAVITY
Centre of gravity of an object is the point of application of a single force of
magnitude w=mg, where the effect on the rotation of the object is the same as
that of the individual particles.
consider an object of arbitrary shape lying in the xy-plane with small particles of
weight m1g, m2g, m3g.....having coordinates(x1,y1), (x2,y2) (x3,y3). If the object is
equal to its weight multiplied by its lever arm. For example, the torque due to the
weight m1g is m1gx1, and so on. Equating torque exerted by weight w at the
center of gravity to the sum of the torques acting on the individual particles
gives;
m1 g  m2 g  m3 g  ....) xcg  m1 gx1  m2 gx2  m3 gx3

xcg 
m1 x1  m2 x2  m3 x3  ....

m x i i

m1  m2  m3  .... m i
 CENTER OF GRAVITY
xcg is the x-coordinate of the center of gravity is;

xcg 
m x i i

m i

similary for ycg is ycg 

 m y i i

m i

for zcg zcg 

 mz i i

m i
 CENTER OF MASS
The Center of Mass is an imaginary point where one can assume the
entire mass of the given system or object to be located.
Center of Mass: Is the point at which all the mass of the body
appears to be concentrated
the point at which gravity acts on a body
the point at which a body will rotate given a spin
 CENTER OF MASS
• The center of mass of a system of particles always lies on the straight line joining these
particles
• The center of mass depends internally on the line joining the two particles in the inverse
ratio of masses.
• The position of the centre of mass depends on the shape and the distribution of mass.
Therefore, it may lie within or outside the material of the body.
• In symmetrical bodies with uniform distribution of mass, the center of mass coincides with
the geometric centre.
• The centre of mass of an isolated system has a constant velocity. Other words, the centre of
mass of an isolated body always remains at rest.
 CENTER OF MASS EQUATIONS
Consider two particles A and B of masses m1 and m2, respectively. Take the line joining A and
B as the X-axis. Let the coordinates of the particles at time 't' be x1 and x2.
The center of mass at time t is situated at
m1 x1  m2 x2
xCM 
m1  m2
As time passes, x1 and x2 change and hence, X changes and the center of mass moves along
the X-axis. Velocity of the center of mass at time t is,
m1v1  m2 v2
VCM 
m1  m2
The acceleration of the center of mass is

m1a1  m2 a2
aCM 
m1  m2
 CENTRE OF MASS COORDINATES
The x-coordinate of the centre of mass is given by
m1x1  m2x2  m3x3 ..... mix i
xCM  
m1  m2  m3 ...... mi

Similarly the y-coordinate and z-coordinate of the centre of mass can be found
from  miyi
yCM 
 mi

zCM 
 mizi
 mi
 EXAMPLE 2
Determine the center of mass for the three particles in the figure
below. m1=1kg, m2=1kg, m3= 2kg
SOLUTION TO EXAMPLE 2
SOLUTION CON'T
Determining Center of Mass
CENTRE OF MASS OF IRREGULAR OBJECTS
 EQUILIBRIUM
DEFINITION
A body is said to be in state of equilibrium if it is at rest or
moving with uniform velocity.
There are two types of equilibrium.

(i) Static Equilibrium: If a body is at rest, then it is said to be in static

equilibrium.

(ii) Dynamic Equilibrium: If the body is moving with uniform velocity, then it
is said to be in dynamic equilibrium.
 CONDITIONS OF EQUILIBRIUM
There are two conditions of equilibrium.
First Condition of Equilibrium
The vector sum of all forces acting on any object must be zero. Mathematically,

In case of coplanar forces, this conditions is expressed usually in terms of x and y

components of forces. Hence, the 1st condition of equilibrium for coplanar forces
will be

When the first condition of equilibrium is satisfied, there will be no linear

acceleration and body will be in translational equilibrium.
 SECOND CONDITION OF EQUILIBRIUM
Second Condition of Equilibrium
The vector sum of all torque acting on any object must be zero.
Mathematically,

When the second condition of equilibrium is satisfied, there is no

angular acceleration and body will be in rotational equilibrium.
 Example 3: WEIGHTED ARM
Determine the reaction R, at the elbow from the figure below.

USE
Fy  0
  0
 R   F   mg  0 F=583N R=533N
 EXAMPLE 4
A 500N diver is on the end of a 4.0m diving board of negligible mass. The board is on
pedestals as shown in the figure below. What are the forces that each pedestal exerts on
the diving board?

USE
  0 Fy  0
 F A   D IVER  FB  0 FA= 833.33N FB= 1333.33N
 EXAMPLE 5 :THE LADDER PROBLEM
Place a 7.0m uniform, 150N ladder against a frictionless wall at an angle of 75°. What
are the reaction forces at the ground and wall and the minimum coefficient of friction of
the ground? (See Figure below)

7.0m
6.8m

750

1.8m
 STABILITY
Stability refers to the ability of a body to restore to its original static
equilibrium, after it has been slightly displaced. Stability is the state of
balance of an object.
TYPES OF EQUILIBRIUM
a) Stable equilibrium
b) Unstable equilibrium
c) Neutral equilibrium
 STABLE EQUILIBRIUM
A body is in stable equilibrium if when slightly displaced and then released it
returns to its previous. Its centre of mass rises when it is displaced. It rolls back
because its weight has a moment about the point of contact that acts to reduce the
displacement.
 UNSTABLE EQUILIBRIUM
A body is in unstable equilibrium if it moves further away from its previous
position when slightly displaced and released.Its centre of mass falls when it is
displaced slightly because there is a moment which increases the displacement.
 NEUTRAL EQUILIBRIUM
A body is in neutral equilibrium if it stays in its new position when displaced. Its
centre of mass does not rise or fall because there is no moment to increase or
decrease the displacement.
 STABILITY AND CENTRE OF GRAVITY
• The center of gravity (CG) is located right in the center of the object.

• The lower the CG the more stable an object is stable

• The higher the centre of gravity the less stable an object is.
BALANCE AND CENTRE OF GRAVITY
RELATING Rotation Motion AND Linear Motion
 Relating Torque and Angular Acceleration
Torque (τ) is defined as the product of force and radial distance (r) from centre of rotation. It is a
rotational force about a circle whose radius is r. Torque is a vector. It is also called centripetal
force.
 Fxr .....(Torque)

F  ma
But
and a  r
hence
F  mr
Multiplying both sides by r, we get Fr  m.r 2

Hence   mr  2
.....(Torque) or   I
Where I  mr 2 ......(moment of inertia)
 Torque on a Rotating Object
Consider a solid disc about its axis as shown below. The disc is considered to be
composed of many particles, thus the total torque is the sum of torque of each
individual particle.
𝜏 = (𝑚𝑟 2 )𝛼
Then,
𝑚𝑟 2 = 𝑚1 𝑟12 + 𝑚2 𝑟22 + 𝑚3 𝑟32 + ⋯
 ROTATIONAL AXIS OF DISC
We use the rand hand gripp rule to determine the direction of torque
The four fingers points in the direction of linear force and the thumb points in
the direction of torque
 Rotational Inertia or Moment of Inertia
• Rotational inertia is a parameter that is used to quantify how much torque it takes to get a
particular object rotating

• it depends not only on the mass of the object, but where the mass is relative to the hinge or
axis of rotation

• the rotational inertia is bigger, if more mass is located farther from the axis.

 = 25m  = 100m

r=5m
pivot
r = 10m
 Same torque But Different Rotational Inertia
More mass

Less mass

Remember inertia is the resistance to change of motion. more mass more inertia.
Variation of Rotational Inertia
More illustrations
 Moment of Inertia of Whole Body
The moment of inertia of whole body is then
𝑰 = 𝒎𝒓𝟐
And the units are 𝒌𝒈. 𝒎𝟐
Note that that torque is then

𝝉 = 𝑰𝜶

This equation is the rotational counterpart Newton’s second law,

𝑭 = 𝒎𝒂
 Example 6
The Baton twirler
In an effort to be the star of the half time show, a majorette twirls a highly unusual
baton made up of four fastened masses that are fastened to the ends of light rods as
shown below. Each rod is 1.0 m long. Find the moment of inertia of the system about an
axis perpendicular to the page passing through the point where the rods cross M=
0.30kg and
m=0.20 kg.
 Example 7
The majorette tries to spin her strange baton about the axis OO’ as shown below.
Calculate the moment of inertia about the axis OO'. Each rod is 1.0m long and The mass
M= 0.3kg and m= 0.20kg
Moments of Inertia for Rigid Bodies
Moments of Inertia con’
 RADIUS OF GYRATION
The radius of gyration is equal to the root mean square distances of the particles from the axis of
rotation of the body.
The moment of inertia of the rotating rigid body is,
I = Σ mi ri2 = m1 r12 + m2 r22 + m3 r32 + ………. + mn rn2
If the particles of the rigid body are having same mass, then
m1 = m2 = m3 = ……… = mn = m
The above equation becomes
I = m (r12 + r22 + r32 + ………. + rn2)
I = nm [r12 + r22 + r32 + ………. + rn2/n]
where n is the number of particles in the rigid body.
 RADIUS OF GYRATION

I = MK2

where M = nm, total mass of the body and

K2 = r12 + r22 + r32 + ………. + rn2/n

K = √r12 + r22 + r32 + ………. + rn2/n is called as the radius of gyration of

the rigid body about the axis of rotation.
 PARALLEL AXIS THEOREM
Statement:
The moment of inertia of a body about any axis is equal to the
sum of its moment of inertia about a parallel axis through its
centre of gravity and the product of the mass of the body and the
square of the distance between the two axes.
I0 =IG + Mx 2
 PARALLEL AXIS THEOREM PROOF
consider a body having its centre of gravity at G. The axis XX’ passes through the centre of gravity
and is perpendicular to the plane of the body. The axis X1X1′passes through the point O and is
parallel to the axis XX′. The distance between the two parallel axes is x.

For a particle P at a distance r from O, its moment of inertia about the axis X1OX1′ is equal to
mr2
 PARALLEL AXIS THEOREM PROOF
The moment of inertia of the whole body about the axis X1X1′ is
given by, I0 = Σ mr2 ……………………(1)

In the ΔOPA,
OP2 = OA2 + AP2
r2 = (x + h)2 + AP2
r2 = x2 + 2xh +h2 + AP2 ………… (2)

But from Δ GPA,

GP2 = GA2 + AP2
y2 = h2 + AP2 ………… (3)
Substituting equation (3) in (2),
r2 = x2 + 2xh +h2 + y2 - h2 …………… (4)
 PARALLEL AXES THEOREM CONT'
Substituting equation (4) in (1),
I0 = Σ m (x2 + 2xh + y2) = Mx2 + My2 + 2xΣmh
Here My2 = IG, is the moment of inertia of the body about the line passing through the
centre of gravity.
The sum of the turning moments of all the particles about the centre of gravity is zero,
since the body is balanced about the centre of gravity G.
Σ (mg) (h) = 0 (or) Σ m h = 0 (since g is constant) ............ (6)
∴ Equation (5) becomes, I0 = Mx2 + IG …….. (7)
Thus the parallel axes theorem is proved.
 Perpendicular axes theorem
Statement:
The moment of inertia of a plane laminar body about an axis perpendicular to
the plane is equal to the sum of the moments of inertia about two mutually
perpendicular axes in the plane of the lamina such that the three mutually
perpendicular axes have a common point of intersection.

Iz = I x + Iy
 Perpendicular axes theorem Proof
Consider a plane lamina having the axes OX and OY in the plane of the lamina. The axis OZ
passes through O and is perpendicular to the plane of the lamina. Let the lamina be divided into
a large number of particles, each of mass m. A particle at P at a distance r from O has
coordinates (x,y).
 Perpendicular axes theorem Proof
Therefore, r2 = x2 + y2 ………. (1)
The moment of inertia of the particle P about the axis OZ = mr2
The moment of inertia of the whole lamina about the axis OZ is
Iz = Σ mr2 ……….. (2)
The moment of inertia of the whole lamina about the axis OX is
Ix = Σ my2 …………… (3)
Similarly, Iy = Σ mx2 ……………. (4)
From eqn. (2), Iz = Σ mr2 = Σm (x2 + y2)
Iz = Σ mx2 + Σ my2 = Iy + Ix
Therefore, Iz = Ix + Iy
which proves the perpendicular axes theorem.
 COUPLE
Two equal and opposite forces whose lines of action do not coincide are said to constitute a
couple in mechanics.

Arm of the couple:

The perpendicular distance between the lines of action of two forces, which constitute the
couple, is called the arm of the couple.
.
 MOMENT OF A COUPLE
Moment of the couple:
The product of the forces forming the couple and the arm of the couple is called the
moment of the couple or torque.

Moment of Couple = Fs

Examples for couple:

i)Forces applied to the handle of a screw press
ii)Opening or closing a water tap.
iii)Turning the cap of a pen.
iv)Steering a car.
 Example 8
A baseball player loosening up his arm before a game tosses a 0.150 kg
baseball using only the rotation of his forearm to accelerate the ball. The
forearm has a mass of 1.50 kg and a length of 0.350 m. The ball starts at
rest and is released with speed of 30.0 m/s in 0.300 s.
(a) Calculate the constant angular acceleration of the arm and the ball.
(b) Calculate the moment of inertia of the system consisting of the forearm
and ball.
(c) Find the torque exerted on the ball to give it the angular acceleration
 Example 8 - Solution
The angular acceleration can be found with rotational kinematic equations, while
the moment of inertia of the system can be obtained by summing the separate
moments of inertia of the ball and forearm. Multiplying these two results together
gives the torque.

Solution
(a) Find the angular acceleration of the ball.
The angular acceleration is constant, so use the angular velocity kinematic equation
with:
v = 30.0 m/s; a = 30/0.3 = 100 m/s2;
ω = v/r = 30 x 0.35 = 85.7 rad/s
α = a/r =100 / 0.35 = 285.7 rad/s2
 Example 8- Solution
(b) Find the moment of inertia of the system (forearmplus ball). Find the
moment of inertia of the ball about an axis thatpasses through the elbow,
perpendicular to the arm:

I ball = mr2 = 0.15x(0.35)2 = 0.0184 kg.m2

I arm = 1/3mL2 = 1/3 x 1.5 x (0.35)2 = 0.184/3

= 6.125 10-2 kg.m2

I total =I ball + I arm = 0.0184 + 0.06125 = 7.97 x 10-2 kg.m2

 Example 8 - Solution

(c) Find the torque exerted on the ball to give it the angular
acceleration
Ʈ = Itotal x α
= 7.97 x 10-2 x 285.7 rad/s2
= 22.77 N.m
 Example 9
The Falling Bucket
A solid frictionless cylindrical pulley of mass M = 3.00 kg and radius 0.400
m is used to draw water from a well. A bucket of mass m=2.00 kg is
attached to a cord wrapped around the cylinder. If the bucket starts from
rest at the top of the well and falls for 3.00 s before hitting the water, how
far does it fall?

Use: s = u2 +1/2at2
 Rotational Kinetic Energy
• Analogously, a body rotating about an axis with angular speed 𝜔 has rotational kinetic
energy given by
𝟏
𝐊𝑬𝒓 = 𝑰𝝎𝟐
𝟐
• In the case of rolling systems, there are three types of energy: gravitational,
translational kinetic and rotational kinetic energy.


Conservation of Mechanical Energy for Rolling System
Initial sum of energies of a rotating system is equal to the final sum
of energies of the system

𝑲𝑬𝒕 + 𝑲𝑬𝒓 + 𝑷𝑬𝒈 = (𝑲𝑬𝒕 +𝑲𝑬𝒓 + 𝑷𝑬𝒈 )𝒇

𝒊

The relation is only true if we ignore dissipative forces such as

friction
 WORK-ENERGY THEOREM
If work is done on a rigid object and the only result of the work is rotation
about a fixed axis, the net work done by external forces in rotating the object
equals the change in the rotational kinetic energy of the object:
 TOTAL KINETIC ENERGY OF RIGID BODY
The total kinetic energy of a rigid object rolling on a rough
surface without slipping equals the rotational kinetic energy about
1
its center of mass, ICMꞷ2 plus the translational kinetic energy of
2
1
the center of mass MvCM2
2
 EXAMPLE 10
Consider an oxygen molecule (O2) rotating in the xy plane about the z axis.
The rotation axis passes through the center of the molecule, perpendicular
to its length. The mass of each oxygen atom is 2.66 x 10-26 kg, and at room
temperature the average separation between the two atoms is d =1.21 x 10-
10 m. (The atoms are modeled as particles.)

(i) Calculate the moment of inertia of the molecule about the z axis.
(ii) If the angular speed of the molecule about the z axis is 4.60 x1012 rad/s,
what is its rotational kinetic energy?
 Solution
This is a straightforward application of the definition of I. Because each atom is
a distance d/2 from the z axis, the moment of inertia about the axis is
 SOLUTION TO EXAMPLE 10
Applying the result we just calculated for the moment of inertia in the equation
for KR:
 Example 11
A Ball Rolling Down an Incline
A ball of mass M and radius R starts from rest at height of 2.00 m and rolls down a 30.0⁰
slope . What is the linear speed of the ball when it leaves the incline? Assume that ball
rolls without slipping.
 POWER OF A RIGID BODY

The rate at which work is done by an external force in

rotating a rigid object about a fixed axis, or the power
delivered, is
 ANGULAR MOMENTUM
The instantaneous angular momentum L of a particle relative to the origin O is
defined by the cross product of the particle’s instantaneous position vector r and
its instantaneous linear momentum p:
 Angular Acceleration

• Angular acceleration of an object is proportional to the net

torque acting on it.

• The force and mass in linear motion correspond to torque and

moment of inertia in rotational motion.

• The moment of inertia of a system depends on the axis of

rotation and the manner in which the mass is distributed.
RELATING ANGULAR MOMENTUM AND MOMENT OF INERTIA

The magnitude of angular momentum will be:

L  rp sin 
If the angle between radius r and tangential velocity v is 90֯.
L  mvr sin 90  mvr 

L  mvr
sin 90  1
L  m( r ) r
L  mr  2

L  I
 Angular Momentum
For a mass under the action of a torque, its angular speed will increase
from an initial value to some value with time. So the change in angular
momentum of the object is
∆𝑳 = 𝑰𝝎f - Iꞷi
then we can write

𝒄𝒉𝒂𝒏𝒈𝒆 𝒊𝒏 𝒂𝒏𝒈𝒖𝒍𝒂𝒓 𝒎𝒐𝒎𝒆𝒏𝒕𝒖𝒎 ∆𝑳

𝝉= =
𝒊𝒏𝒕𝒆𝒓𝒗𝒂𝒍 ∆𝒕
 Conservation of Angular Momentum
The angular momentum of a system is conserved when the net external
torque acting on the system is zero. That is, when 𝜏 = 0 , the initial
momentum equals the final momentum. Thus the conservation law

“Law of conservation of angular momentum”

𝑰𝝎𝒊 = 𝑰𝝎𝒇
 ORBITAL ANGULAR MOMENTUM
The angular momentum of a particle of mass moving with velocity and momentum
relative to the origin is defined as:

The magnitude of angular momentum will be:

Since the angle between radius and tangential velocity is , so

Hence proved.
 Example 12
A student sits on a pivoted stool while holding a pair of masses. The stool is free to
rotate about a vertical axis with negligible friction. The moment of student, masses and
stool is 2.25 kg𝑚2 . The student is set in rotation with an initial angular speed of 5.00
rad/s , with the masses outstretched. As he rotates, he pulls the masses inward so that
the new moment of inertia of the system is (student, masses and stool) becomes 1.80
kg𝑚2 . What is the new angular speed of the system?
 Example 13
A student stands at the edge of a circular platform that rotates in a horizontal plane about a
frictionless vertical axle. The platform has a mass of M= 100 kg and the radius of R= 2.00m.
The student whose mass is m= 60 kg , walks slowly from the rim of the disk towards the center.
If the angular speed of the system is 2.00 rad/s when the student is at the rim.
(a) Calculate the angular speed when the student reaches a point 0.500 m from the centre
(b) Find the change in the system's rotational kinetic energy caused by her movement to r=
0.500m
(c) Find the work done on the student as she walks to r=0.500m
 REFERENCES

• Serway and Faughn,(1999), College Physics,5ed., Brooks/Cole-

Thompson
• Learning. Serway, Physics for Scientists and Engineers, e- Book.
• Maholtra Stalin,(2007), Numerical Problems in Physics For Class IX,
Tata Macgraw Publishing Company, Limited