HW9 Physics 311 Mechanics

Fall 2015
Physics departmen t
Uni ver sit y of Wisconsin, Madison

Instructor: Professor Stefan Westerhoff

By

Nasser M. Abbasi

November 28, 2019

Contents
0.1 Problem 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
0.2 Problem 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
0.2.1 Part(1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
0.2.2 Part(2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
0.2.3 Part(3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
0.2.4 Part(4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
0.3 Problem 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
0.3.1 Part(1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
0.3.2 Part(2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
0.3.3 Part(3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
0.4 Problem 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
0.4.1 Solution using Cylindrical coordinates . . . . . . . . . . . . . . . . . . 18
0.4.2 Solution using Cartesian coordinates . . . . . . . . . . . . . . . . . . . 22
0.5 Problem 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
0.5.1 Part (1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
0.5.2 Part(2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
0.5.3 Part(3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
0.5.4 Part(4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
0.5.5 Part(5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
0.5.6 Appendix. Second Solution of problem 5 . . . . . . . . . . . . . . . . 30

2
 Mechanics
Physics 311
Fall 2015
3
Homework 9 (11/20/15, due 12/4/15)

0.1 Problem 1

1. (5 points)
A rigid body of arbitrary shape rotates freely under zero torque. Use Euler’s equations to
show that the rotational kinetic energy and the magnitude of the angular momentum are
constant.

SOLUTION:
2. (10 points)
Euler solid body block
A uniform rotation equations
of mass m and are
dimensions a by 2a by 3a spins about a long diagonal with
angular velocity ω
~. (𝐼2 − 𝐼3 ) 𝜔2 𝜔3 − 𝐼1 𝜔̇ 1 = 0 (1)
(1) Using a coordinate system (𝐼3 with
− 𝐼1 ) 𝜔 3 𝜔1 − 𝐼2 𝜔̇ 2 = 0
the origin at the center of the block, calculate (2)
the
inertia tensor. (𝐼1 − 𝐼2 ) 𝜔1 𝜔2 − 𝐼3 𝜔̇ 3 = 0 (3)
(2) Find the kinetic energy.
Where 𝐼1 , 𝐼2 , 𝐼3 are the body moments of inertia around the principal axes. Multiplying both
sides of(3)(1)
Find
by 𝐼the angle between the angular velocity ω ~
~ and the angular momentum L.
1 𝜔1 and both sides of (2) by 𝐼2 𝜔2 and both sides of (3) by 𝐼3 𝜔3 gives
(4) Find the magnitude
𝜔1of
𝜔2the
𝜔3 𝐼1torque
𝐼2 − 𝜔1that
𝜔2 𝜔3must 𝐼12 𝜔exerted
𝐼1 𝐼3 −be on the block if ω
~ is constant.
1 𝜔̇ 1 = 0 (1A)
𝜔1 𝜔2 𝜔3 𝐼2 𝐼3 − 𝜔1 𝜔2 𝜔3 𝐼1 𝐼2 − 𝐼22 𝜔2 𝜔̇ 2 = 0 (2A)
𝜔1 𝜔2 𝜔3 𝐼1 𝐼3 − 𝜔1 𝜔2 𝜔3 𝐼2 𝐼3 − 𝐼32 𝜔3 𝜔̇ 3
=0 (3A)
3. (10 points)
AddingConsider a simple
(1A,2A,3A) top(lots
gives consisting
of termsof acancel,
heavy circular
that hasdisc 𝜔1 𝜔of2 𝜔mass m and radius a mounted
3 in them)
at the center of a thin rod 2of mass m/2 and length a. The top is set spinning at a rate S
𝐼1 𝜔 𝜔̇ + 𝐼22 𝜔2 𝜔̇ 2 + 𝐼32 𝜔3 𝜔̇ 3 = 0
◦ 1 1
(4)
with the axis at an angle 45 with the vertical.
But (4) is the same thing as
(1) Show that there are two possible values of the precession rate φ̇ such that the top
precesses steadily at a constant value1 of
𝑑 θ2= 45◦ .
𝑳 =0
(2) Calculate the numerical values for2 𝑑𝑡
φ̇ if S = 900 rpm and a = 10 cm.
where 𝑳 is the angular momentum vector
(3) If a top is set spinning sufficiently fast and is started in a vertical position, the axis
𝑳 = {𝐼1 𝜔1This
remains steady in the upright position. , 𝐼2 𝜔2is, 𝐼called
3 𝜔3 } a “sleeping top.” How fast must the

Hence top spin to sleep in the vertical position?

𝑳2 = 𝑳 ⋅ 𝑳 = �𝐼12 𝜔12 , 𝐼22 𝜔22 , 𝐼32 𝜔32 �
Therefore, and since the 𝐼 ′ 𝑠 are constant, we find
1 𝑑 2 1
𝑳 = �2𝐼12 𝜔1 𝜔̇ 1 , 2𝐼22 𝜔2 𝜔̇ 2 , 2𝐼32 𝜔3 𝜔̇ 3 �
2 𝑑𝑡 2
= �𝐼12 𝜔1 𝜔̇ 1 , 𝐼22 𝜔2 𝜔̇ 2 , 𝐼32 𝜔3 𝜔̇ 3 � (5)
...continued on next page...
1 𝑑
Comparing (5) and (4), we see they are the same. This means that 2 𝑑𝑡 𝑳2 = 0 or 𝑳2 is a
constant. Which implies 𝑳 or the angular momentum is a constant vector.
1
To show that rotational kinetic energy is constant, we need to show that 2 (𝜔 ⋅ 𝑳) (which is
the kinetic energy) is constant, where 𝝎 = {𝜔1 , 𝜔2 , 𝜔3 } is the angular velocity vector. But
1 𝑑 1
(𝜔 ⋅ 𝑳) = �𝜔̇ ⋅𝑳 + 𝜔 ⋅ 𝑳�̇
2 𝑑𝑡 2
 4

But we found that 𝑳̇ = 0 since 𝑳 is constant. Hence the above becomes

1 𝑑 1
(𝜔 ⋅ 𝑳) = 𝜔̇ ⋅𝑳 (6)
2 𝑑𝑡 2
If we can show that 𝜔̇ ⋅𝑳 = 0 then we are done. To do this, we go back to Euler equations
(1,2,3) and now instead of multiplying by 𝐼𝑖 𝜔𝑖 as before, we now multiply by just 𝜔𝑖 each
equation. This gives
𝜔1 𝜔2 𝜔3 𝐼2 − 𝜔1 𝜔2 𝜔3 𝐼3 − 𝐼1 𝜔1 𝜔̇ 1 = 0 (1C)
𝜔1 𝜔2 𝜔3 𝐼3 − 𝜔1 𝜔2 𝜔3 𝐼1 − 𝐼2 𝜔2 𝜔̇ 2 = 0 (2C)
𝜔1 𝜔2 𝜔3 𝐼1 − 𝜔1 𝜔2 𝜔3 𝐼2 − 𝐼3 𝜔3 𝜔̇ 3 = 0 (3C)
Adding gives (lots of terms cancel, that has 𝜔1 𝜔2 𝜔3 in them)
𝐼1 𝜔1 𝜔̇ 1 + 𝐼2 𝜔2 𝜔̇ 2 + 𝐼3 𝜔3 𝜔̇ 3 = 0 (7)
1 𝑑
But the above is the same as (6), with a factor of 2 . This means 𝜔̇ ⋅𝑳 = 0 or 𝑑𝑡 (𝜔 ⋅ 𝑳) = 0 or
that the rotational kinetic energy is constant. Which is what we are asked to show.
 1. (5 points) 5
A rigid body of arbitrary shape rotates freely under zero torque. Use Euler’s equations to
show that the rotational kinetic energy and the magnitude of the angular momentum are
0.2 constant.
Problem 2

2. (10 points)
A uniform block of mass m and dimensions a by 2a by 3a spins about a long diagonal with
angular velocity ω
~.
(1) Using a coordinate system with the origin at the center of the block, calculate the
inertia tensor.
(2) Find the kinetic energy.
(3) Find the angle between the angular velocity ω ~
~ and the angular momentum L.
(4) Find the magnitude of the torque that must be exerted on the block if ω
~ is constant.

SOLUTION:
3. (10 points)
Consider a simple top consisting of a heavy circular disc of mass m and radius a mounted
at the center of a thin rod of mass m/2 and length a. Theatop is 3
X ~a = { 2 , a, 2seta}
spinning at a rate S
with the axis at an angle 45◦ with2the vertical.
(1) Show that there are two possible values of the precession rate φ̇ such that the top
precesses steadily at a constant value of θ = 45◦ .
x2
3a values for φ̇ if S = 900 rpm and a = 10 cm.
(2) Calculate the numerical
(3) If a top is set spinning sufficiently fast
x1 and is started in a vertical position, the axis
x3
remains steady in the upright position. This is called a “sleeping top.” How fast must the
~a
2ain the vertical position? X
top spin to sleep 1

a
X3

...continued on next page...

0.2.1 Part(1)
We first find 𝐼 (called 𝐽 for now) around the origin of the inertial frame 𝑋1 , 𝑋2 , 𝑋3 then use
1 3
parallel axes theorem to find 𝐼 at the center of the cube at 𝑎 = � 2 𝑎, 𝑎, 2 𝑎�. The volume of the
 6

cube is 𝑎 (2𝑎) (3𝑎) = 6𝑎3 .

𝑎 2𝑎 3𝑎
𝐽11 = 𝜌 � 𝑑𝑋1 � 𝑑𝑋2 � 𝑑𝑋3 �𝑋22 + 𝑋32 �
0 0 0
𝑎 2𝑎 3𝑎 𝑎 2𝑎 3𝑎
= 𝜌 �� 𝑑𝑋1 � 𝑑𝑋2 𝑋22 � 𝑑𝑋3 � + 𝜌 �� 𝑑𝑋1 � 𝑑𝑋2 � 𝑑𝑋3 𝑋32 �
0 0 0 0 0 0
2𝑎 3𝑎
= 𝜌 �𝑎 (3𝑎) � 𝑑𝑋2 𝑋22 � + 𝜌 �𝑎 (2𝑎) � 𝑑𝑋3 𝑋32 �
0 0
⎡ ⎤ ⎡ ⎤
⎢⎢ 3 2𝑎 ⎥ ⎢⎢ 3 3𝑎 ⎥
𝑋 ⎥ 𝑋 ⎥
= 𝜌 ⎢⎢⎣𝑎 (3𝑎) � � ⎥⎥⎦ + 𝜌 ⎢⎢⎣𝑎 (2𝑎) � � ⎥⎥⎦
2 3
3 3
0 0
⎡ 3⎤ ⎡ 3⎤
⎢ (2𝑎) ⎥⎥ ⎢⎢ 2 (3𝑎) ⎥⎥
= 𝜌 ⎢⎣⎢3𝑎2 ⎦⎥ + 𝜌 ⎣⎢2𝑎 ⎦⎥
3 3
8𝑎3 2 27𝑎
3
= 𝜌 �3𝑎2 � + 𝜌 �2𝑎 �
3 3
54𝑎5
= 𝜌8𝑎5 + 𝜌
3
= 26𝑎5 𝜌
26
= 𝑎2 �6𝑎3 𝜌�
6
13
= 𝑀𝑎2
3
And
𝑎 2𝑎 3𝑎
𝐽12 = −𝜌 � 𝑑𝑋1 � 𝑑𝑋2 � 𝑑𝑋3 (𝑋1 𝑋2 )
0 0 0
𝑎 2𝑎 3𝑎
= −𝜌 � 𝑋1 𝑑𝑋1 � 𝑋2 𝑑𝑋2 � 𝑑𝑋3
0 0 0
𝑎 2 2𝑎
𝑋12 𝑋2
= −𝜌 � � � � 3𝑎
2 2
0 0
𝑎2 4𝑎2
= −𝜌 � � � � 3𝑎
2 2
= −3𝑎5 𝜌
3
= − 𝑎2 �6𝑎3 𝜌�
6
1
= − 𝑀𝑎2
2
 7

And
𝑎 2𝑎 3𝑎
𝐽13 = −𝜌 � 𝑑𝑋1 � 𝑑𝑋2 � 𝑑𝑋3 (𝑋1 𝑋3 )
0 0 0
𝑎 2𝑎 3𝑎
= −𝜌 � 𝑋1 𝑑𝑋1 � 𝑋2 � 𝑋3 𝑑𝑋3
0 0 0
𝑎 3𝑎
𝑋12 𝑋32
= −𝜌 � � 2𝑎 � �
2 2
0 0
𝑎2 9𝑎2
= −𝜌 2𝑎
2 2
9 5
=− 𝑎 𝜌
2
9 2
=− 𝑎 �6𝑎3 𝜌�
2 (6)
3
= − 𝑀𝑎2
4
And 𝐽21 = 𝐽12 and
𝑎 2𝑎 3𝑎
𝐽22 = 𝜌 � 𝑑𝑋1 � 𝑑𝑋2 � 𝑑𝑋3 �𝑋12 + 𝑋32 �
0 0 0
𝑎 2𝑎 3𝑎 𝑎 2𝑎 3𝑎
= 𝜌 �� 𝑋12 𝑑𝑋1 � 𝑑𝑋2 � 𝑑𝑋3 � + 𝜌 �� 𝑑𝑋1 � 𝑑𝑋2 � 𝑑𝑋3 𝑋32 �
0 0 0 0 0 0
⎡ 𝑎 ⎤ ⎡ ⎤
⎢⎢ 𝑋13 ⎥⎥ ⎢⎢ 3 3𝑎 ⎥
𝑋 ⎥
= 𝜌 ⎢⎢⎣� � (2𝑎) (3𝑎)⎥⎥⎦ + 𝜌 ⎢⎢⎣𝑎 (2𝑎) � 3 � ⎥⎥⎦
3 3
0 0
3
⎡ 3 ⎤
𝑎 ⎢ (3𝑎) ⎥⎥
= 𝜌 � (2𝑎) (3𝑎)� + 𝜌 ⎢⎢⎣𝑎 (2𝑎) ⎥⎦
3 3
6𝑎5 2 27𝑎
3
= 𝜌� � + 𝜌 �2𝑎 �
3 3
= 𝜌2𝑎5 + 18𝑎5 𝜌
= 20𝑎5 𝜌
20
= 𝑎2 �6𝑎3 𝜌�
6
20
= 𝑀 𝑎2
6
 8

And
𝑎 2𝑎 3𝑎
𝐽23 = −𝜌 � 𝑑𝑋1 � 𝑑𝑋2 � 𝑑𝑋3 (𝑋2 𝑋3 )
0 0 0
𝑎 2𝑎 3𝑎
= −𝜌 � 𝑋1 � 𝑋2 𝑑𝑋2 � 𝑋3 𝑑𝑋3
0 0 0
2𝑎 3𝑎
𝑋22 𝑋32
= −𝜌𝑎 � � � �
2 2
0 0
4𝑎2 9𝑎2
= −𝜌𝑎 � �� �
2 2
= −9𝑎5 𝜌
9
= − 𝑎2 �6𝑎3 𝜌�
6
9
= − 𝑀𝑎2
6
And 𝐽31 = 𝐽13 and 𝐽32 = 𝐽23 and
𝑎 2𝑎 3𝑎
𝐽33 = 𝜌 � 𝑑𝑋1 � 𝑑𝑋2 � 𝑑𝑋3 �𝑋12 + 𝑋22 �
0 0 0
𝑎 2𝑎 3𝑎 𝑎 2𝑎 3𝑎
= 𝜌 �� 𝑋12 𝑑𝑋1 � 𝑑𝑋2 � 𝑑𝑋3 � + 𝜌 �� 𝑑𝑋1 � 𝑋22 𝑑𝑋2 � 𝑑𝑋3 �
0 0 0 0 0 0
⎡ 𝑎 ⎤ ⎡ 2𝑎 ⎤
⎢⎢ 𝑋13 ⎥⎥ ⎢⎢ 𝑋23 ⎥⎥
= 𝜌 ⎢⎢⎣� � (2𝑎) (3𝑎)⎥⎥⎦ + 𝜌 ⎢⎢⎣𝑎 � � 3𝑎⎥⎥⎦
3 3
0 0
𝑎3 8𝑎3
= 𝜌� (2𝑎) (3𝑎)� + 𝜌 �𝑎 � � 3𝑎�
3 3
= 𝜌2𝑎5 + 𝜌8𝑎5
= 10𝑎5 𝜌
10
= 𝑎2 �6𝑎3 𝜌�
6
10
= 𝑀 𝑎2
6
Therefore
⎛ 13 1 3⎞
⎜⎜ −2 − 4 ⎟⎟
⎜⎜ 31 9⎟
⎟
𝐽 = 𝑀𝑎 ⎜⎜⎜− − 6 ⎟⎟⎟⎟
2 20
⎜⎜ 2 6
⎝ 3 9 10 ⎟ ⎠
−4 −6 6
 9

We now find 𝐼 around the center of the cube where the position vector of the center is
1 3
𝑎⃗ = � 2 𝑎, 𝑎, 2 𝑎�. Therefore

𝑎2 − 𝑎21 �
𝐼11 = 𝐽11 − 𝑀 �⃗
13
= 𝑀𝑎2 − 𝑀 �𝑎22 + 𝑎23 �
3 ⎛ ⎞
2
13 ⎜⎜ 3 ⎟⎟
= 𝑀𝑎2 − 𝑀 ⎜⎜⎝𝑎2 + � 𝑎� ⎟⎟⎠
3 2
13
= 𝑀𝑎2
12
And
𝐼12 = 𝐽12 − 𝑀 (−𝑎1 𝑎2 )
1 1
= −𝑀𝑎2 − 𝑀 �− � 𝑎� 𝑎�
2 2
=0
And
𝐼13 = 𝐽13 − 𝑀 (−𝑎1 𝑎3 )
3 1 3
= −𝑀𝑎2 − 𝑀 �− � 𝑎� 𝑎�
4 2 2
=0
And 𝐼21 = 𝐼12 And
𝑎2 − 𝑎22 �
𝐼22 = 𝐽22 − 𝑀 �⃗
20
= 𝑀𝑎2 − 𝑀 �𝑎21 + 𝑎23 �
6 ⎛ ⎞
20 ⎜⎜ 1 2 3
2
⎟⎟
= 𝑀𝑎2 − 𝑀 ⎜⎜⎝� 𝑎� + � 𝑎� ⎟⎟⎠
6 2 2
5
= 𝑀𝑎2
6
And
𝐼23 = 𝐽23 − 𝑀 (−𝑎2 𝑎3 )
9 3
= −𝑀𝑎2 − 𝑀 �− (𝑎) 𝑎�
6 2
=0
 10

And 𝐼31 = 𝐼31 and 𝐼32 = 𝐼23 and

𝑎2 − 𝑎23 �
𝐼33 = 𝐽33 − 𝑀 �⃗
10
= 𝑀𝑎2 − 𝑀 �𝑎21 + 𝑎22 �
6 ⎛ ⎞
10 ⎜⎜ 1 2 ⎟⎟
= 𝑀𝑎 2 − 𝑀 ⎜⎜⎝� 𝑎� + 𝑎 ⎟⎟⎠
2
6 2
5
= 𝑀𝑎2
12
Therefore the moment of inertia tensor around the center of mass is
⎛ 13 ⎞
⎜⎜ 0 0 ⎟⎟
⎜⎜ 12 ⎟⎟
𝐼 = 𝑀𝑎 ⎜⎜⎜ 0 0 ⎟⎟⎟⎟
2 10
⎜⎜ 12
⎝ 5⎟ ⎠
0 0 12

0.2.2 Part(2)
1
The kinetic energy is 2 𝜔 ⋅ 𝐿 where 𝜔 = {𝜔1 , 𝜔2 , 𝜔3 } and
𝐿 = 𝐼𝜔
⎛ 13 ⎞⎛ ⎞
⎜⎜ 0 0 ⎟⎟ ⎜⎜𝜔1 ⎟⎟
⎜⎜ 12 10 ⎟⎟ ⎜⎜ ⎟⎟
= 𝑀𝑎2 ⎜⎜ 0 ⎜ 0 ⎟⎟⎟⎟ ⎜⎜⎜𝜔2 ⎟⎟⎟
⎜⎜
⎠ ⎜⎝𝜔 ⎟⎠
12
⎝ 5⎟
0 0 12 3
⎛ 13 ⎞
⎜⎜ 𝑀𝑎2 𝜔1 ⎟⎟
⎜⎜ 12 ⎟⎟
= ⎜⎜⎜ 𝑀𝑎2 𝜔2 ⎟⎟⎟
10
⎜⎜ 12 ⎟⎟
⎝5 2 ⎠
12
𝑀𝑎 𝜔3
Hence
1 1 13 10 5
𝑇 = 𝜔 ⋅ 𝐿 = � 𝑀𝑎2 𝜔12 + 𝑀𝑎2 𝜔22 + 𝑀𝑎2 𝜔32 �
2 2 12 12 12
1
= 𝑀𝑎2 �13𝜔12 + 10𝜔22 + 5𝜔32 �
24

Since body is rotating around the long diagonal. The long diagonal has length �𝑎2 + (2𝑎)2 + (3𝑎)2 =
√14𝑎, therefore
𝜔 𝜔
𝜔= {𝑎, 2𝑎, 3𝑎} = {1, 2, 3}
√14𝑎 √14
and the above becomes
1 13 4 9
𝑇= 𝑀𝑎2 𝜔 2 � + 10 � � + 5 � ��
24 14 14 14
7
= 𝑀𝑎2 𝜔 2
24
 11

0.2.3 Part(3)
Using
𝜔 ⋅ 𝐿 = |𝜔| |𝐿| cos 𝜃
𝜔⋅𝐿
cos 𝜃 =
|𝜔| |𝐿|
14
24
𝑀𝑎2 𝜔 2
=
2 2 2
13 10 5
𝜔12 + 𝜔22 + 𝜔32 � 𝑀𝑎2 𝜔1 � + � 𝑀𝑎2 𝜔2 � + � 𝑀𝑎2 𝜔3 �
� � 12 12 12
14
24
𝑀𝑎2 𝜔 2
=
2 2 2 2 2 2
𝜔 2𝜔 3𝜔 13 𝜔 10 2𝜔 5 3𝜔
� � +� � +� � � 𝑀𝑎2 � + � 𝑀𝑎2 � + � 𝑀𝑎2 �
� √14 √14 √14 � 12 √14 12 √14 12 √14
14
24
𝑀𝑎2 𝜔 2
=
397
√𝜔 2 𝑀 2 𝑎4 𝜔 2
� 1008
14
24
=
397
� 1008
= 0.92951
Hence
𝜃 = 21.640

0.2.4 Part(4)
Since
𝑑
𝜏𝑒𝑥𝑡𝑒𝑟𝑛𝑎𝑙 = (𝑳)𝑖𝑛𝑒𝑟𝑡𝑖𝑎𝑙
𝑑𝑡
𝑑
= (𝑳)𝑏𝑜𝑑𝑦 + 𝜔 × 𝑳
𝑑𝑡
 12

𝑑
But (𝑳)𝑏𝑜𝑑𝑦 = 0 since 𝑳 = 𝐼𝜔 and 𝐼 is constant and 𝜔 is constant. Therefore
𝑑𝑡

𝜏=𝜔×𝑳
= 𝜔 × 𝐼𝜔
⎛ ⎞ ⎛ ⎞⎛ ⎞
⎜⎜𝜔1 ⎟⎟ ⎜⎜𝐼1 0 0 ⎟⎟ ⎜⎜𝜔1 ⎟⎟
⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟
= ⎜⎜⎜𝜔2 ⎟⎟⎟ × ⎜⎜⎜ 0 𝐼2 0 ⎟⎟⎟ ⎜⎜⎜𝜔2 ⎟⎟⎟
⎝⎜ ⎠⎟ ⎝⎜ ⎟⎠ ⎜⎝ ⎟⎠
𝜔3 0 0 𝐼3 𝜔3
⎛ ⎞ ⎛ ⎞
⎜⎜𝜔1 ⎟⎟ ⎜⎜𝐼1 𝜔1 ⎟⎟
⎜⎜ ⎟⎟ ⎜⎜ ⎟⎟
= ⎜⎜⎜𝜔2 ⎟⎟⎟ × ⎜⎜⎜𝐼2 𝜔2 ⎟⎟⎟
⎝⎜ ⎠⎟ ⎝⎜ ⎠⎟
𝜔3 𝐼3 𝜔3
𝒊 𝒋 𝒌
� �
= 𝜔1 𝜔2 𝜔3
� �
𝐼1 𝜔1 𝐼2 𝜔2 𝐼3 𝜔3
= 𝒊 (𝐼3 𝜔2 𝜔3 − 𝐼2 𝜔2 𝜔3 ) − 𝒋 (𝐼3 𝜔3 𝜔1 − 𝐼1 𝜔1 𝜔3 ) + 𝒌 (𝐼2 𝜔2 𝜔1 − 𝐼1 𝜔1 𝜔2 )
⎛ ⎞
⎜⎜𝜔2 𝜔3 (𝐼3 − 𝐼2 )⎟⎟
⎜⎜ ⎟⎟
= ⎜⎜⎜𝜔3 𝜔1 (𝐼1 − 𝐼3 )⎟⎟⎟
⎜⎝ ⎟⎠
𝜔2 𝜔1 (𝐼2 − 𝐼1 )
The above are Euler equations for constant 𝜔, and could have been written down directly
from Euler equations by setting all the 𝜔̇ 𝑖 = 0 also.
𝜔 13 10 5
Now, since 𝜔 = {1, 2, 3} and 𝐼1 = 12
𝑀𝑎2 , 𝐼2 = 12
𝑀𝑎2 , 𝐼3 = 12
𝑀𝑎2 , Therefore the above
√14
torque becomes
⎛ 5 10 ⎞
⎜⎜6 � − �⎟⎟
2 ⎜⎜⎜ 12 12 ⎟⎟⎟
𝜔 ⎜ 13 5 ⎟
𝜏= 𝑀𝑎 ⎜⎜⎜3 � 12 − 12 �⎟⎟⎟
2
14 ⎜⎜ ⎟
⎜⎜ 10 13 ⎟⎟⎟
⎝2 � − �⎠
12 12
⎛ 5⎞
⎜⎜− ⎟⎟
𝜔2 ⎜⎜ 2 ⎟⎟
= 𝑀𝑎 ⎜⎜⎜ 2 ⎟⎟⎟
2
14 ⎜⎜ ⎟⎟
⎝− 1 ⎠
2
⎛ 5⎞
⎜⎜− ⎟⎟
⎜⎜ 128 ⎟⎟
= 𝜔 2 𝑀𝑎2 ⎜⎜⎜ ⎟⎟
⎜⎜ 7 ⎟⎟⎟
⎝ 1⎠
− 28
⎛ ⎞
⎜⎜−0.1786⎟⎟
⎜⎜ ⎟⎟
= 𝜔 2 𝑀𝑎2 ⎜⎜⎜ 0.1429 ⎟⎟⎟
⎜⎝ ⎟⎠
−0.0357
1
Units check: 𝑀𝐿2 = [𝑁] [𝐿] units of torque. OK. The above is the external torque exerted
𝑇2
 13

on the block.
 angular velocity ω
~.
(1) Using a coordinate system with the origin at the center of the block, calculate the
inertia tensor.
14
(2) Find the kinetic energy.
(3) Find the angle between the angular velocity ω ~
~ and the angular momentum L.
0.3 Problem
(4) Find the 3
magnitude of the torque that must be exerted on the block if ω
~ is constant.

3. (10 points)
Consider a simple top consisting of a heavy circular disc of mass m and radius a mounted
at the center of a thin rod of mass m/2 and length a. The top is set spinning at a rate S
with the axis at an angle 45◦ with the vertical.
(1) Show that there are two possible values of the precession rate φ̇ such that the top
precesses steadily at a constant value of θ = 45◦ .
(2) Calculate the numerical values for φ̇ if S = 900 rpm and a = 10 cm.
(3) If a top is set spinning sufficiently fast and is started in a vertical position, the axis
remains steady in the upright position. This is called a “sleeping top.” How fast must the
top spin to sleep in the vertical position?

SOLUTION:

0.3.1 Part(1)
Starting with the Euler equations for Gyroscope precession, equations 9.71. in textbook,
...continued
page 371, on mechanics,
Analytical next page... 6th edition, by Fowles and Cassiday

𝑀𝑔𝑙 sin 𝜃 = 𝐼𝑥 𝜃̈ + 𝐼𝑧 𝑆𝜙̇ sin 𝜃 − 𝐼𝑦 𝜙̇ 2 cos 𝜃 sin 𝜃

𝑑 ̇
0 = 𝐼𝑦 �𝜙 sin 𝜃� − 𝐼𝑧 𝑆𝜃̇ + 𝐼𝑥 𝜃̇ 𝜙̇ cos 𝜃 (1)
𝑑𝑡
0 = 𝐼𝑧 𝑆̇
Where the spin of the disk 𝑆 around its own 𝑧 body axis is
𝑆 = 𝜓̇ + 𝜙̇ cos 𝜃
Instead of drawing this again, which would take sometime, I am showing the diagram from
the book above, page 371 for illustration
 15

In (1), the length 𝑙 is the distance from center of mass of the combined disc and rod, to the
𝑎
origin of the inertial frame. This will be 𝑙 = 2 . 𝑀 is the total mass of both the disc and the
3
rod, which will be 𝑀 = 2 𝑚.
We are told that 𝜃 (𝑡) is constant. Hence 𝜃̈ = 0 and first equation in (1) becomes
𝑀𝑔𝑙 sin 𝜃 = 𝐼𝑧 𝑆𝜙̇ sin 𝜃 − 𝐼𝑦 𝜙̇ 2 cos 𝜃 sin 𝜃
𝑀𝑔𝑙 = 𝐼𝑧 𝑆𝜙̇ − 𝐼𝑦 𝜙̇ 2 cos 𝜃
This is quadratic in 𝜙̇ . Solving gives
𝐼𝑦 𝜙̇ 2 cos 𝜃 − 𝐼𝑧 𝑆𝜙̇ + 𝑀𝑔𝑙 = 0
−𝑏 ± √𝑏2 − 4𝑎𝑐
𝜙̇ =
2𝑎
𝐼𝑧 𝑆 ± 𝐼 2 𝑆2 − 4𝐼𝑦 cos 𝜃𝑀𝑔𝑙
= �𝑧 (2)
2 cos 𝜃𝐼𝑦
The only thing left is to calculate 𝐼𝑧 and 𝐼𝑦 for the disc and the rod about the mass center,
then use parallel axes theorem to move this to the pivot, which is the origin of the inertial
frame.
𝑎
Due to symmetry, the center of mass for both disk and rod is located distance 2 from pivot.
𝑎
Hence 𝑙 = 2 . For the disc, its moment of inertial around the spin axes at its center of mass is
𝑎2
(𝐼𝑧 )𝑑𝑖𝑠𝑘 = 𝑚
2
𝑎2 𝑎
And along the 𝑦 axis 𝐼𝑦 = 𝑚 4 . Since the distance of the center of mass from the pivot is 2 ,
 16

we need to adjust 𝐼𝑦 by this distance using parallel axes. Hence

𝑎2 𝑎 2
�𝐼𝑦 � =𝑚 + 𝑚� �
𝑑𝑖𝑠𝑘 4 2
1
= 𝑎2 𝑚
2
For the rod, it only has moment of inertial around 𝑦 at the end of the rod. From tables
𝑚 𝑎2
�𝐼𝑦 � = � 2 � � 3 �. Therefore
𝑟𝑜𝑑

𝑎2
𝐼𝑧 = 𝑚
2
1 𝑚 𝑎2
𝐼𝑦 = �𝐼𝑦 � + �𝐼𝑦 � = 𝑎2 𝑚 +
𝑑𝑖𝑠𝑘 𝑟𝑜𝑑 2 2 3
2
= 𝑎2 𝑚
3
𝑚 3 𝑎
From (2), and using 𝜃 = 450 we find, using 𝑀 = 𝑚 + 2
= 2 𝑚 and 𝑙 = 2

𝐼𝑧 𝑆 ± 𝐼𝑧2 𝑆2 − 4𝐼𝑦 cos 𝜃𝑀𝑔𝑙

𝜙̇ = � (3)
2 cos 𝜃𝐼𝑦

0.3.2 Part(2)
𝑎
For 𝜃 = 450 and 𝑆 = 900 rpm, which is 94.248 rad/sec. 𝑎 = 0.1 meter and 𝑙 = 2
= 0.05 meter
(3) becomes
2
𝑎2 𝑎2 2 𝜋 3
�𝑚 � (94.248) ± �𝑚 � (94.248)2 − 4 � 𝑎2 𝑚� cos �45 � �� � 𝑚� (9.8) (0.05)
2 � 2 3 180 2
𝜙̇ =
𝜋 2
2 cos �45 � 180 �� � 3 𝑎2 𝑚�
2
(0.1)2 (0.1)2 2 𝜋 3
�𝑚 � (94.248) ± 𝑚 � � (94.248)2 − 4 � (0.1)2 � cos �45 � �� � � (9.8) (0.05)
=
2 � 2 3 180 2
𝜋 2
2 cos �45 � 180 �� � 3 (0.1) 𝑚�
2

2
(0.1)2 (0.1)2 2 𝜋 3
3 � � (94.248) 3 �� � (94.248)2 − 4 � (0.1)2 � cos �45 � �� � � (9.8) (0.05)
2 2 3 180 2
= 𝜋 ± 𝜋
4 cos �45 � �� (0.1)2 4 cos �45 � 180 �� (0.1)2
180
= 49. 983 ± 48. 398 rad/sec
Or
𝜙̇ = 939.47 or 15.13 rpm
 17

0.3.3 Part(3)
From (2) above, repeated below
𝐼𝑧 𝑆 ± 𝐼𝑧2 𝑆2 − 4𝐼𝑦 cos 𝜃𝑀𝑔𝑙
𝜙̇ = �
2 cos 𝜃𝐼𝑦
Since 𝜙̇ must be real, then 𝐼𝑧2 𝑆2 − 4𝐼𝑦 cos 𝜃𝑀𝑔𝑙 must be either positive or zero.
𝑆2 − 4𝐼𝑦 cos 𝜃𝑀𝑔𝑙 ≥ 0
4𝐼𝑦 cos 𝜃𝑀𝑔𝑙
𝑆2 ≥
𝐼𝑧2
For 𝜃 = 0 the above becomes
4𝐼𝑦 𝑀𝑔𝑙
𝑆2 ≥
𝐼𝑧2
The above is the condition on spin speed 𝑆 for keeping 𝜃 = 0 . Hence
2 3
4 � 3 𝑎2 𝑚� � 2 𝑚� (9.8) 𝑙
𝑆2 ≥ 2
𝑎2
�𝑚 �
2
156.8
≥ 𝑙
𝑎2
156.8
≥ (0.05)
(0.1)2
≥ 784
Therefore
𝑆 ≥ √784
≥ 28 rad/sec
Or
𝑆 ≥ 267. 31 RPM
 18

0.4 Problem 4

4. (10 points)
Determine the principal moments of inertia and the corresponding principle axes about
the center of mass of a homogeneous circular cone of height h and radius R. (You might
find it easier to calculate the moments in a reference frame with the origin at the apex
first, and then transform to the center of mass system.)

SOLUTION:
5. (15 points)
A homogeneous slab of thickness a is placed on top of a fixed cylinder of radius R whose
0.4.1 axis
Solution using(as
is horizontal Cylindrical coordinates
in the Figure below).
(1) Determine
Will show theusing
the solution Lagrangian of thecoordinates.
Cylindrical system. Then later will also show the solution
using Cartesian coordinates. Using Cylindrical coordinates
(2) Derive the equations of motion and determine the frequency of small oscillations.
(3) Show that the condition for stable equilibrium of the slab, assuming no slipping, is
R > a/2. r, θ, z are the cylinderical coordinates
z energy U as a function of the angular displacement
(4) Use a computer to plot the potential
θ for a slab of mass M = 1 kg and

(a) R = 20 cm and a = 5 cm, and

(b) R = 10 cm and a = 30 cm.

(5) Show that the potential energy U (θ) has a minimum at θ = 0 for R > a/2, but not for
R < a/2.
y
θr
x

The limits of volume integration will be from 𝑧 = 0 ⋯ ℎ and 𝜃 = 0 ⋯ 2𝜋. For 𝑟, it depends on
𝑟 𝑧 𝑅 𝑅
𝑧. Since 𝑅 = ℎ , then 𝑟 = ℎ 𝑧, therefore the limit for 𝑟 = 0 ⋯ ℎ 𝑧. This is when the tip of the
cone at the origin as follows

R r
= z
R h

r
h
z
y
θ
x
 19

3𝑀 ℎ 3
The density is 𝜌 = 𝜋𝑅2ℎ . The center of mass is 4 distance away from the base or 4 ℎ from
the tip. The moment of inertia is found at the origin (which is the tip of the cone also),
then moved to the center of mass using parallel axes theorem. We know from Cartesian
coordinates that the inertia matrix is found using

⎛ 2 ⎞
⎜⎜𝑦 + 𝑧2 −𝑥𝑦 −𝑥𝑧 ⎟⎟
⎜⎜ ⎟⎟
𝐽 = 𝜌��� ⎜⎜⎜ −𝑥𝑦 𝑥2 + 𝑧2 −𝑦𝑧 ⎟⎟⎟ 𝑑𝑧𝑑𝑦𝑑𝑥
⎜⎝ ⎟⎠
−𝑥𝑧 −𝑦𝑧 𝑥 2 + 𝑦2
Therefore, in cylindrical coordinates this becomes, after using the mapping 𝑥 = 𝑟 cos 𝜃, 𝑦 =
𝑟 sin 𝜃, 𝑧 = 𝑧
⎛2 2 ⎞
𝑅 ⎜⎜𝑟 sin 𝜃 + 𝑧2 −𝑟2 cos 𝜃 sin 𝜃 −𝑟 cos 𝜃𝑧⎟⎟
ℎ 2𝜋
ℎ
𝑧 ⎜⎜ ⎟⎟
𝐽 = 𝜌� � � ⎜⎜ −𝑟 cos 𝜃𝑧 𝑟2 cos2 𝜃 + 𝑧2 −𝑟 sin 𝜃𝑧 ⎟⎟⎟ 𝑟𝑑𝑟𝑑𝜃𝑑𝑧
⎜⎜ ⎟⎠
0 0 0 ⎝
−𝑟 cos 𝜃𝑧 −𝑟 sin 𝜃𝑧 𝑟2
Due to symmetry, the off diagonal elements will be zero. So we only have to perform the
following integration
⎛2 2 ⎞
𝑅 ⎜⎜𝑟 sin 𝜃 + 𝑧2 0 0 ⎟⎟
ℎ 2𝜋 𝑧 ⎜⎜ ⎟
𝐽 = 𝜌� � �
ℎ
⎜⎜ 0 𝑟 2 cos2 𝜃 + 𝑧2 0 ⎟⎟⎟ 𝑟𝑑𝑟𝑑𝜃𝑑𝑧
⎜⎜ ⎟⎟
0 0 0 ⎝ ⎠
0 0 𝑟2
 20

For 𝐽11 we find

𝑅
ℎ 2𝜋 ℎ
𝑧
𝐽11 = 𝜌� � � �𝑟2 sin2 𝜃 + 𝑧2 � 𝑟𝑑𝑟𝑑𝜃𝑑𝑧
0 0 0
𝑅 𝑅
ℎ 2𝜋 𝑧 ℎ 2𝜋 𝑧
ℎ ℎ
= 𝜌� � � �𝑟2 sin2 𝜃� 𝑟𝑑𝑟𝑑𝜃𝑑𝑧
+ 𝜌� � � 𝑧2 𝑟𝑑𝑟𝑑𝜃𝑑𝑧
0 0 0 0 0 0
⎛ 𝑅 ⎞ ⎛ 𝑅 ⎞
ℎ 2𝜋 ⎜⎜ ℎ 𝑧 ⎟
⎟ ℎ 2𝜋 ⎜
⎜ ℎ
𝑧 ⎟⎟
= 𝜌� 𝑑𝑧� 𝑑𝜃 ⎜⎜⎝� �𝑟3 sin2 𝜃� 𝑑𝑟⎟⎟⎠ + 𝜌� 𝑧2 𝑑𝑧� 𝑑𝜃 ⎜⎜⎝� 𝑟𝑑𝑟⎟⎟⎠
0 0 0 0 0 0
𝑅 𝑅
𝑧 𝑧
ℎ 2𝜋 𝑟4 ℎ ℎ 2𝜋 𝑟2 ℎ
= 𝜌� 𝑑𝑧� sin2 𝜃𝑑𝜃 � � + 𝜌� 𝑧2 𝑑𝑧� 𝑑𝜃 � �
0 0 4 0 0 2
0 0
𝜌 𝑅4 ℎ 2𝜋 𝜌 𝑅2 ℎ 2𝜋
= � 𝑧4 𝑑𝑧� sin2 𝜃𝑑𝜃 + � 𝑧4 𝑑𝑧� 𝑑𝜃
4 ℎ4 0 0 2 ℎ2 0 0
2𝜋
𝜌 𝑅4 ℎ
4 𝑑𝑧 𝜃 − 1 sin (2𝜃) 𝜌 𝑅2 ℎ
= � 𝑧 � � + 2𝜋� 𝑧4 𝑑𝑧
4 ℎ4 0 2 4 2 ℎ2 0
0
ℎ
𝜌 𝑅4 ℎ 𝜌 𝑅2 𝑧 5
=𝜋 � 𝑧4 𝑑𝑧 + 2𝜋 � �
4 ℎ4 0 2 ℎ2 5
0
ℎ
𝜌 𝑅4 𝑧5 𝑅2 ℎ5
=𝜋 � � +𝜌 𝜋
4 ℎ4 5 ℎ2 5
0
𝜌 𝑅4 ℎ5 2𝜋 ℎ
3
=𝜋 + 𝜌𝑅
4 ℎ4 5 5
𝜌 4 ℎ3
= 𝜋 𝑅 ℎ + 𝜌𝑅2 𝜋
20 5
3𝑀
Using 𝜌 = 𝜋𝑅2 ℎ
the above becomes
3𝑀 1 4 3𝑀 2 ℎ3
𝐽11 = 𝜋 𝑅 ℎ + 𝑅 𝜋
𝜋𝑅2 ℎ 20 𝜋𝑅2 ℎ 5
3𝑀 2 3𝑀 2
= 𝑅 + ℎ
20 5
For 𝐽22 it will be the same as the above, since the only difference is cos2 𝜃 instead of sin2 𝜃
in the integrand. Therefore
3𝑀 2 3𝑀 2
𝐽22 = 𝑅 + ℎ
20 5
 21

For the final entry (the easy one) we have

𝑅
ℎ 2𝜋 𝑧
ℎ
𝐽33 = 𝜌� � � 𝑟2 𝑟𝑑𝑟𝑑𝜃𝑑𝑧
0 0 0
𝑅
𝑧
ℎ 2𝜋 𝑟4 ℎ
= 𝜌� � � � 𝑑𝜃𝑑𝑧
0 0 4
0
𝜌 𝑅4 ℎ 2𝜋
= 4�
𝑧4 𝑑𝑧� 𝑑𝜃
4ℎ 0 0
𝜌 𝑅4 ℎ
= 2𝜋� 𝑧4 𝑑𝑧
4 ℎ4 0
ℎ
𝜌 𝑅4 𝑧5
= 2𝜋 � �
4 ℎ4 5
0
𝜌 𝑅4
= 2𝜋ℎ5
20 ℎ4
3𝑀
Using 𝜌 = 𝜋𝑅2 ℎ
the above becomes
3𝑀 1 𝑅4
𝐽33 = 2𝜋ℎ5
𝜋𝑅2 ℎ 20 ℎ4
6
= 𝑀𝑅2
20
Therefore
⎛ 3𝑀 3𝑀 2 ⎞
⎜⎜ 𝑅2 + ℎ 0 0 ⎟⎟
⎜⎜ 20 5 ⎟⎟
𝐽 = ⎜⎜⎜ 0 ⎟⎟⎟⎟
3𝑀 3𝑀 2
⎜⎜ 0 20
𝑅2 + 5
ℎ
⎝ 3 2⎠
⎟
0 0 10
𝑀𝑅

Using 𝐼𝑖𝑗 = 𝐼𝑖𝑗𝑐𝑚 + 𝑀 �𝑎2 𝛿𝑖𝑗 − 𝑎𝑖 𝑎𝑗 �, we now find 𝐼. The vector from the origin to the center of
3
mass is 𝑎 = �0, 0, 4 ℎ�, hence
⎛ ⎞
3𝑀 2 3𝑀 2 ⎜⎜ 3 2 ⎟⎟
𝐼11 =� 𝑅 + ℎ � − 𝑀 ⎜⎜⎝� ℎ� − �02 �⎟⎟⎠
20 5 4
2
3𝑀 2 3𝑀 2 3
= 𝑅 + ℎ − 𝑀 � ℎ�
20 5 4
3 3
= 𝑀𝑅2 + 𝑀ℎ2
20 80
And
𝐼22 = 𝐼11
 22

And
⎛ ⎞
3 ⎜⎜ 3 2 3
2
⎟⎟
𝐼33 = 𝑀𝑅2 − 𝑀 ⎜⎜⎝� ℎ� − � ℎ� ⎟⎟⎠
10 4 4
3
= 𝑀𝑅2
10
Therefore the final inertial matrix around the center of the mass of the cone is
⎛3 3 ⎞
⎜⎜ 𝑅2 + ℎ2 0 0 ⎟⎟
⎜⎜ 20 80 ⎟⎟
𝐼 = 𝑀 ⎜⎜⎜ 0 ⎟⎟⎟⎟
3 3
⎜⎜ 0 20
𝑅2 + 80
ℎ2
⎝ 3 2⎟ ⎠
0 0 10
𝑅

0.4.2 Solution using Cartesian coordinates

Will find mass moment of inertia tensor at center of base of cone, then use parallel axes to
move it to the center of mass of cone.

R h
r
= h−z

r h
z
y
R
x

We basically want to perform this integral

⎛ 2 ⎞
𝑧=ℎ 𝑦=𝑦(𝑧max ) 𝑥=𝑥�𝑦max � ⎜⎜𝑦 + 𝑧2 −𝑥𝑦 −𝑥𝑧 ⎟⎟
⎜⎜ ⎟⎟
𝐽 = 𝜌� � � ⎜⎜ −𝑥𝑦 𝑥 2 + 𝑧2 −𝑦𝑧 ⎟⎟ 𝑑𝑧𝑑𝑦𝑑𝑥
⎜⎜⎝ ⎟⎟
⎠
𝑧=0 𝑦=𝑦(𝑧min ) 𝑥=𝑥�𝑦min � −𝑥𝑧 −𝑦𝑧 𝑥 2 + 𝑦2
The limit on 𝑧 is easy. It is from 𝑧 = 0 to 𝑧 = ℎ. Now at specific 𝑧, we need to know the limit
𝑅(ℎ−𝑧)
on 𝑦. The radius 𝑟 at some 𝑧 distance from the origin is 𝑟 = ℎ as shown above, which is
by proportions. Therefore the limit of integration for 𝑦 is from 𝑦 = −𝑟 to +𝑟. Now we need
to find the limit on 𝑥. At some specific 𝑦 distance from origin, we see from the following
diagram
 23

y
x r

y
R

𝑅(ℎ−𝑧)
We see from the above that 𝑥2 = 𝑟2 − 𝑦2 but 𝑟 = ℎ
, hence the limit on 𝑥 is from
2 2
𝑅(ℎ−𝑧) 𝑅(ℎ−𝑧)
− � � − 𝑦2 to + � � − 𝑦2 . Now that we found all the limits, the integration is
� ℎ � ℎ

𝑅(ℎ−𝑧) �
𝑅(ℎ−𝑧)
2
� −𝑦2
⎛ 2 ⎞
ℎ ℎ � ℎ ⎜⎜𝑦 + 𝑧2 −𝑥𝑦 −𝑥𝑧 ⎟⎟
⎜⎜ ⎟⎟
𝐽 = 𝜌� � � ⎜⎜ −𝑥𝑦 𝑥2 + 𝑧2 −𝑦𝑧 ⎟⎟⎟ 𝑑𝑧𝑑𝑦𝑑𝑥
⎜⎜ ⎟⎠
⎝
0
−
𝑅(ℎ−𝑧)
𝑅(ℎ−𝑧)
2 −𝑥𝑧 −𝑦𝑧 𝑥 2 + 𝑦2
ℎ − � � −𝑦2
� ℎ

3𝑀
Where 𝜌 = 𝜋𝑅2ℎ .Using computer algebra software to do the integration (too messy by hand),
the above gives

⎛1 3 ⎞
⎜⎜ 𝑀ℎ2 + 𝑀𝑅2 0 0 ⎟⎟
⎜⎜ 10 20 ⎟⎟
𝐽 = ⎜⎜⎜ 0 ⎟⎟⎟⎟
1 3
⎜⎜ 0 10
𝑀ℎ2 + 20
𝑀𝑅2
⎝ 3 2⎠
⎟
0 0 10
𝑀𝑅
1
Now we use parallel axis to find 𝐼 at center of mass. The center of mass is at 𝑎⃗ = �0, 0, 4 ℎ�,
hence
𝑎2 − 𝑎21 �
𝐼11 = 𝐽11 − 𝑀 �⃗
2
1 3 1
= 𝑀ℎ2 + 𝑀𝑅2 − 𝑀 � ℎ�
10 20 4
3 3
= 𝑀𝑅2 + 𝑀ℎ2
20 80
And
𝐼12 = 𝐽12 − 𝑀 (−𝑎1 𝑎2 )
= 0 − 𝑀 (0)
=0
 24

And
𝐼13 = 𝐽13 − 𝑀 (−𝑎1 𝑎3 )
3 1 3
= −𝑀𝑎2 − 𝑀 �− � 𝑎� 𝑎�
4 2 2
=0
And 𝐼21 = 𝐼12 And
𝑎2 − 𝑎22 �
𝐼22 = 𝐽22 − 𝑀 �⃗
2
1 3 1
= 𝑀ℎ2 + 𝑀𝑅2 − 𝑀 � ℎ�
10 20 4
3 3
= 𝑀𝑅2 + 𝑀ℎ2
20 80
And
𝐼23 = 𝐽23 − 𝑀 (−𝑎2 𝑎3 )
= 0 − 𝑀 (0)
=0
And 𝐼31 = 𝐼31 and 𝐼32 = 𝐼23 and
𝑎2 − 𝑎23 �
𝐼33 = 𝐽33 − 𝑀 �⃗
⎛ ⎞
3 ⎜⎜ 1 2 1
2
⎟⎟
= 𝑀𝑅2 − 𝑀 ⎜⎜⎝� ℎ� − � ℎ� ⎟⎟⎠
10 4 4
3
= 𝑀𝑅2
10
Therefore the moment of inertia tensor around the center of mass
⎛3 3 ⎞
⎜⎜ 𝑅2 + ℎ2 0 0 ⎟⎟
⎜⎜ 20 80 ⎟⎟
𝐼 = 𝑀 ⎜⎜⎜ 0 ⎟⎟⎟⎟
3 3
⎜⎜ 0 20
𝑅2 + 80
ℎ2
⎝ 3 2⎟ ⎠
0 0 10
𝑅

Which is the same as using Cylindrical coordinates (as would be expected).

 4. (10 points)
Determine the principal moments of inertia and the corresponding principle axes about 25
the center of mass of a homogeneous circular cone of height h and radius R. (You might
find it easier to calculate the moments in a reference frame with the origin at the apex
0.5 first,
Problem
and then5 transform to the center of mass system.)

5. (15 points)
A homogeneous slab of thickness a is placed on top of a fixed cylinder of radius R whose
axis is horizontal (as in the Figure below).
(1) Determine the Lagrangian of the system.
(2) Derive the equations of motion and determine the frequency of small oscillations.
(3) Show that the condition for stable equilibrium of the slab, assuming no slipping, is
R > a/2.
(4) Use a computer to plot the potential energy U as a function of the angular displacement
θ for a slab of mass M = 1 kg and

(a) R = 20 cm and a = 5 cm, and

(b) R = 10 cm and a = 30 cm.

(5) Show that the potential energy U (θ) has a minimum at θ = 0 for R > a/2, but not for
R < a/2.

SOLUTION:
 26

0.5.1 Part (1)

current position of center of mass

Rθ sin θ (x, y)

a
2
cos θ
position of mass C0
of mass at C Rθ
equilibrium θ
a
θ 2

R cos θ
R
y

θ
x
origin

The system has three degrees of freedom �𝑥, 𝑦, 𝜃�. But they are not independent. Because if
we know 𝜃 (𝑡), we can find 𝑥 (𝑡) and 𝑦 (𝑡) (for small angle approximation) as shown below in
equations (1) and (2).
The cylinder itself does not move or rotate. Only the slab has rotational and translational
motion. When the slab center of mass at 𝐶 it is in equilibrium. When the slab center of mass
at point 𝐶′ the location of the center of mass is �𝑥, 𝑦�, where from the diagram above we see
that (for small angle 𝜃)
𝑎
𝑥 = �𝑅 + � sin 𝜃 − 𝑅𝜃 cos 𝜃 (1)
2
𝑎
𝑦 = �𝑅 + � cos 𝜃 + 𝑅𝜃 sin 𝜃 (2)
2
The distance from 𝐶′ to 𝑂 which is the zero reference for potential energy is therefore
(assuming mass of slab is 𝑀)
𝑈 = 𝑀𝑔𝑦
𝑎
= 𝑀𝑔 �𝑅𝜃 sin 𝜃 + � + 𝑅� cos 𝜃�
2
Let the moment of inertial of the slab around the axis of rotation be 𝐼 therefore
1 1
𝑇 = 𝐼𝜃̇ 2 + 𝑀 �𝑥̇ 2 + 𝑦̇ 2 � (3)
2 2
Now, we write 𝑥̇ 2 + 𝑦̇ 2 above in terms of 𝜃 using (1) and (2). (Initially I did not know if we
should do this or not. So I left the original solution as an appendix in case that was how
we are supposed to do it). Using this method below, we find only one equation of motion,
 27

not three as in the solution in the appendix.

𝑎
𝑥̇ = �𝑅 + � 𝜃̇ cos 𝜃 − �𝑅𝜃̇ cos 𝜃 + 𝑅𝜃𝜃̇ sin 𝜃�
2
𝑎
𝑦̇ = − �𝑅 + � 𝜃̇ sin 𝜃 + �𝑅𝜃̇ sin 𝜃 + 𝑅𝜃𝜃̇ cos 𝜃�
2
Hence (using CAS for simplification) we find
1
𝑥̇ 2 = 𝜃̇ 2 (𝑎 cos 𝜃 + 2𝑅𝜃 sin 𝜃)
2
4
Similarly for 𝑦̇ 2 we find
1
𝑦̇ 2 = 𝜃̇ 2 (𝑎 sin 𝜃 − 2𝑅𝜃 cos 𝜃)
2
4
Hence (3) becomes
1 1
𝑇 = 𝐼𝜃̇ 2 + 𝑀𝜃̇ 2 �(𝑎 cos 𝜃 + 2𝑅𝜃 sin 𝜃) + (𝑎 sin 𝜃 − 2𝑅𝜃 cos 𝜃) �
2 2
2 8
And the Lagrangian is
𝐿=𝑇−𝑈
1 1 𝑎
= 𝐼𝜃̇ 2 + 𝑀𝜃̇ 2 �(𝑎 cos 𝜃 + 2𝑅𝜃 sin 𝜃) + (𝑎 sin 𝜃 − 2𝑅𝜃 cos 𝜃) � − 𝑀𝑔 �𝑅𝜃 sin 𝜃 + � + 𝑅� cos 𝜃�
2 2
2 8 2

0.5.2 Part(2)

𝜕𝐿 1
= 𝑀 �𝑔𝑎 sin 𝜃 + 2𝑅𝜃 �−𝑔 cos 𝜃 + 𝑅𝜃̇ 2 ��
𝜕𝜃 2
𝜕𝐿 1
= �4𝐼 + 𝑎2 𝑀 + 4𝑀𝑅2 𝜃2 � 𝜃̇
𝜕𝜃̇ 4
𝑑 𝜕𝐿 1
= 2𝑀𝑅2 𝜃𝜃̇ 2 + �4𝐼 + 𝑎2 𝑀 + 4𝑀𝑅2 𝜃2 � 𝜃̈
𝑑𝑡 𝜕𝜃 ̇ 4
Hence
𝑑 𝜕𝐿 𝜕𝐿
− =0
𝑑𝑡 𝜕𝜃̇ 𝜕𝜃
1 1
𝐼𝜃̈ + 𝑀 �𝑎2 + 4𝑅2 𝜃2 � 𝜃̈ − 𝑎𝑔𝑀 sin 𝜃 + 𝑀𝑅𝜃 �𝑔 cos 𝜃 + 𝑅𝜃̇ 2 � = 0
4 2
For small angles, we use sin 𝜃 ≈ 𝜃 and cos 𝜃 ≈ 1, 𝜃̇ 2 ≈ 0 and 𝜃2 ≈ 0. The above becomes
1 1
𝐼𝜃̈ + 𝑀𝑎2 𝜃̈ − 𝑎𝑔𝑀𝜃 + 𝑀𝑅𝜃𝑔 = 0
4 2
1 1
𝜃̈ �𝐼 + 𝑀𝑎2 � + 𝜃 �𝑀𝑅𝑔 − 𝑎𝑔𝑀� = 0
4 2
1
𝑀𝑔 �𝑅 − 2 𝑎�
𝜃̈ + 𝜃=0
1
�𝐼 + 𝑎2 𝑀�
4
 28

The above is now in the form 𝜃̈ + 𝜔02 𝜃 = 0 , therefore the natural frequency is
�
⃓ 𝑀𝑔 �𝑅 − 1 𝑎�
⃓ 2
𝜔0 = ⃓
⃓ �𝐼 + 1 𝑎2 𝑀�
⎷ 4

0.5.3 Part(3)
1
𝑀𝑔�𝑅− 2 𝑎�
For stable equilibrium, we need 1
> 0 in order to obtain an oscillator (simple harmonic
�𝐼+ 𝑎2 𝑀�
4
motion), otherwise the solution will contain pure exponential term and it will blow up. Hence
we need
1
𝑀𝑔 �𝑅 − 𝑎� > 0
2
1
𝑅− 𝑎>0
2
1
𝑅> 𝑎
2

0.5.4 Part(4)
𝑎
Here is a plot of 𝑀𝑔 �𝑅𝜃 sin 𝜃 + � 2 + 𝑅� cos 𝜃�, for small angle, using 𝑀 = 1kg. For parts (a)
and (b)
potential energy as function of the angle, part(a) potential energy as function of the angle, part(b)

2.26
2.450
2.25
U(θ) (Joule)
U(θ) (Joule)

2.24 2.445
Out[319]=
2.23
2.440
2.22

2.21
2.435
11

14
-9

-6

-3
-14

-11
11

14
-9

-6

-3
-14

-11

9
0

θ (degree) θ (degree)

𝑎
We see from the above, that in part(b), where 𝑅 < 2 , the potential energy at 𝜃 = 0 is not
minimum. This implies 𝜃 = 0 is not a stable equilibrium. While in part(a) it is stable.

0.5.5 Part(5)

𝑎
𝑈 (𝜃) = 𝑀𝑔 �𝑅𝜃 sin 𝜃 + � + 𝑅� cos 𝜃�
2
Hence to find where the minimum is
 29

1
𝑈 ′ (𝜃) = 𝑔𝑅𝜃 cos 𝜃 − 𝑔𝑎 sin 𝜃
2
Setting this to zero and for small angle we obtain
1
0 = 𝑔𝑅𝜃 − 𝑔𝑎𝜃
2
1
0 = 𝜃𝑔 �𝑅 − 𝑎�
2
This implies 𝜃 = 0 is where the minimum potential energy is. We know this is stable
equilibrium. Therefore we expect 𝑈 ′′ (𝜃 = 0) to be positive for a local minimum (from
calculus). We now check the condition for this.
1
𝑈 ′′ (𝜃) = − 𝑔 ((𝑎 − 2𝑅) cos 𝜃 + 2𝑅𝜃 sin 𝜃)
2
At 𝜃 = 0 we obtain
1
𝑈 ′′ (𝜃 = 0) = − 𝑔 (𝑎 − 2𝑅)
2
For the above to be positive, then
𝑎 − 2𝑅 < 0
2𝑅 > 𝑎
𝑎
𝑅>
2
𝑎
The above is the condition for having stable equilibrium at 𝜃 = 0. If 𝑅 < 2 , then at 𝜃 = 0 the
slab will not be stable, which is not we have shown in part(3).
 30

0.5.6 Appendix. Second Solution of problem 5

Part(1)
In this solution, we find three equations of motion.
1 1
𝑇 = 𝐼𝜃̇ 2 + 𝑀 �𝑥̇ 2 + 𝑦̇ 2 �
2 2
Hence the Lagrangian is
𝐿=𝑇−𝑈
1 1 𝑎
= 𝐼𝜃̇ 2 + 𝑀 �𝑥̇ 2 + 𝑦̇ 2 � − 𝑀𝑔 �𝑅𝜃 sin 𝜃 + � + 𝑅� cos 𝜃�
2 2 2

Part(2)
For 𝜃
𝜕𝐿 𝑎
= −𝑀𝑔 �𝑅 (sin 𝜃 + 𝜃 cos 𝜃) − � + 𝑅� sin 𝜃�
𝜕𝜃 2
𝜕𝐿
= 𝐼𝜃̇
𝜕𝜃̇
𝑑 𝜕𝐿
= 𝐼𝜃̈
𝑑𝑡 𝜕𝜃̇
Hence
𝑑 𝜕𝐿 𝜕𝐿
− =0
𝑑𝑡 𝜕𝜃̇ 𝜕𝜃
𝑎
𝐼𝜃̈ + 𝑀𝑔 �𝑅 (sin 𝜃 + 𝜃 cos 𝜃) − � + 𝑅� sin 𝜃� = 0
2
For small angles, we use sin 𝜃 ≈ 𝜃 and cos 𝜃 ≈ 1, and the above becomes
𝑎
𝐼𝜃̈ + 𝑀𝑔 �2𝑅𝜃 − � + 𝑅� 𝜃� = 0
2
1
𝐼𝜃̈ + 𝑀𝑔 �𝑅 − 𝑎� 𝜃 = 0
2
1
𝑀𝑔 �𝑅 − 2 𝑎�
𝜃̈ + 𝜃=0
𝐼
The above is now in the form 𝜃̈ + 𝜔02 𝜃 = 0 , therefore the natural frequency is
�
⃓ 𝑀𝑔 �𝑅 − 1 𝑎�
𝜔0 = ⃓
2
⎷ 𝐼
 31

For 𝑥, we have
𝜕𝐿
=0
𝜕𝑥
𝜕𝐿
= 𝑀𝑥̇
𝜕𝑥̇
𝑑 𝜕𝐿
= 𝑀𝑥̈
𝑑𝑡 𝜕𝑥̇
Hence
𝑑 𝜕𝐿 𝜕𝐿
− =0
𝑑𝑡 𝜕𝑥̇ 𝜕𝑥
𝑀𝑥̈ = 0
For 𝑦 we also obtain
𝑀𝑦̈ = 0

The rest follows as first solution above and will not be repeated.