Physics (HRK) Chapter 12: Rotational Dynamics

ROTATIONAL DYNAMICS

An overview of Rotational Dynamics

For linear motion, dealing with problems of dynamics, we have
Force = Mass * Acceleration
F  ma
Now we analyze the rotational motion of rigid bodies about a certain axis of
rotation.
Consider a certain force is applied at a certain location to a rigid body free to
rotate about a particular axis, the resulting motion depends upon the location of the
application of force. A given force applied a one location may produce difference rotation
at some other location. This quantity which takes into account both the magnitude of the
force and the location and direction in which it is applied is called torque.
We regard force as push or a pull, similarly we can regard torque as twist.
The effort required to put a body into rotation depends on the distribution of mass
of the body about the axis of rotation. If the mass is closer to the azis of rotation, it is
easier to rotate a body and vice versa. The inertial quantity that takes into account the
distribution of body’s mass is called rotational inertia or moment of inertia. Unlike mass,
rotational inertia is not an intrinsic property of the body.
The equation, identical with equation (1), for rotational dynamics is:
Torque = Moment of Inertia * Angular Acceleration
  I
Relationship between Linear and Angular Variables:
Linear Motion Angular Motion
Linear Displacement x Angular Displacement 
dx d
Linear Velocity v  Angular Velocity  
dt dt
dv d
Linear Acceleration a  Angular Acceleration  
dt dt
dp dL
Force F  ma or F  Torque   I or  
dt dt
Work W   Fdx Work W    d

1 2 1 2
Kinetic Energy K  mv Kinetic Energy K  I
2 2
Power P  F v Power P   
Linear Momentum p  mv Angular Momentum L  I
Linear Impulse = Ft Angular Impulse =  t
Mass (Translational Inertial) m Rotational Inertia I
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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 12: Rotational Dynamics

Kinetic Energy of a Rigid Body

Consider a rigid body is spinning along the

axis of rotation with uniform angular velocity . Let

the object consist of n particles having masses

, which are at distances

from axis of rotation.

The rotational kinetic energy for particle of mass

The rotational kinetic energy for particle of mass

The rotational kinetic energy for particle of mass

Now the total rotational kinetic energy acting on the rigid body is described as:

Since the body is rigid, so all the masses will rotate with same angular velocity ,

Where is the moment of inertia of the rigid body.

Parallel Axis Theorem

It states that
The rotational inertial of any body about any axis is equal to the sum of rotational
inertia about a parallel axis through the centre of mass and the product of mass of body
and square of distance between two axis”
Mathematically, it is described as:
I  ICM  Md 2

Where
I  Rotational inertia about an arbitrary axis
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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 12: Rotational Dynamics

I CM  Rotational inertia about the

parallel axis through the center of
mass
M  Mass of the body
d  Perpendicular distance
between the axes
Proof
Consider a thin plane slab in xy-
plane. The plane can be regarded
as the collection of particles each
having mass mi . Now we calculate
the rotational inertia of the slab
about z-axis passing through origin
O and perpendicular to the slab.
 xi , yi   Co-ordinates of mi w.r.t origin

 xi ', yi '  Co-ordinates of mi w.r.t center of mass

 xcm , ycm   Co-ordinates of center of mass w r t origin

From figure,
xi  xi ' xcm

yi  yi ' ycm
The rotational inertia about the axis through O is


I   mi xi 2 , yi 2 
I   mi  xi ' xcm    yi ' ycm  
2 2
 

I   mi  xi '2  xcm 2  2 xi ' xcm  yi '2  ycm 2  2 yi ' ycm 

   
I   mi xi '2  yi '2   mi xcm 2  ycm 2  2 xcm  mi xi ' 2 ycm  mi yi '

But m x '  0  m y '

i i i i

xcm 2  ycm 2  d 2

m x '  y '   I
i i
2
i
2
CM

 I  ICM  Md 2
Which is the mathematical form of parallel axis theorem.

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 12: Rotational Dynamics

Rotational Inertia for Solid Bodies

If we take very small mass tending to zero, then,

Rotational Inertial of Thin Uniform Rod

Figure shows a thin uniform rod of mass M, length L and area of cross-section A.
we want to find out the moment of inertia I about an axis passing through its center O.
-------------- (1)
If is volume mass density, then

Consider the rod is placed along x-axis, therefore:

The equation (1), will become:

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 12: Rotational Dynamics

Rotational Inertia of Thin Uniform Rod about a Perpendicular Axis Passing

Through Its Edge
Figure shows a thin uniform rod of mass M, length L and area of cross-section A.
We want to find out the moment of inertia I about a perpendicular axis passing through
its edge. As
-------------- (1)
If is volume mass density, then

Consider the rod is placed along x-axis, therefore:

The equation (1), will become:

L
M
I   x2 . dx
0
L
L
M 2
L 0
I x dx
L
M x3
I
L 3 0

M L  3
I   0
L 3 
M L 
3
I  
L 3
1
I  ML2
3
Rotational Inertia of (i) A Hollow Cylinder (ii) A Solid Cylinder about Axis of
Symmetry (Cylindrical Axis)
Figure shows annular cylinder of mass M, length L with inner and outer radii R1 and R2 ,

respectively. Take a cylindrical shell of radius r and thickness dr .

Surface area of cylindrical shell ds  2 rL
Volume of cylindrical shell dv  2 rLdr
Mass of cylindrical shell dm   2 rLdr  

Rotational inertia of the annular cylinder is

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 12: Rotational Dynamics

I   r 2 dm
R2

I  r . 2 rLdr  
2

R1

R2

I  2 L r dr
3

R1

R2

I  2 L  r 3dr
R1

R2
r4
I  2 L
4 R1

1
I   L R2 4  R14
2
 
1
I   L R2 2  R12
2
  R 2
2
 R12 
I
1
2   
 R2 2  R12  L  R2 2  R12  
 
Here M   R2 2  R12  L = Mass of cylindrical shell

I
1
2

M R2 2  R12  ------------ (1)

Rotational Inertia of A Solid Cylinder

For a solid cylinder, R1  0 and R2  R . By putting
the values in equation (1), we have:

I
1
2

M R 2  02 
1
I MR 2
2
Rotational Inertia of A Hollow Cylinder
For a hollow cylinder, R1  R2  R . By putting
the values in equation (1), we have:

I
1
2

M R2  R2 
I
1
2
M 2R2  
I  MR2

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 12: Rotational Dynamics

Rotational Inertia of (i) A Disk (ii) A Hoop (Ring) about Cylindrical Axis
Consider a disk of inner and outer radii R1 and R2 , respectively. Let  is surface
mass density.
Consider a circular strip of radius r and breadth dr with in the material.
Surface area of circular strip ds  2 rdr
Mass of circular strip ds   ds  2 rdr
Rotational inertia of strip is:
I   r 2 dm
R2

I  2 r dr
3

R1

R2

I  2  r 3dr
R1

R2

I  2  r 3dr
R1

R2
r4
I  2
4 R1

1

I   R2 4  R14
2

1

I   R2 2  R12
2
 R2
2
 R12 
I
1
2    
 R2 2  R12   R2 2  R12 
 
Here M   R22  R12  = Mass of cylindrical shell

I
1
2

M R2 2  R12  ------------ (1)

Rotational Inertia of A Solid Disk

For a solid disk, R1  0 and R2  R . By putting the values in equation (1), we have:

I
1
2

M R 2  02 
1
I MR 2
2
Rotational Inertia of A Hollow Cylinder
For a hoop or a ring, R1  R2  R . By putting the values in equation (1), we have:

I
1
2

M R2  R2 
I  MR2

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 12: Rotational Dynamics

Rotational inertia of a spherical shell

Fig. shows a thin spherical shell of radius R, mass m and surface mass
density  . In fig Rsin  is the radius of the circular ring, d  angular width and
Rd  linear width of the ring.

Circumference of the ring = 2 R

Surface area of the circular strip ds =(2 R sin  )( Rd  ) = 2 R 2 sin  d 

Mass of circular strip dm =  ds= 2 R 2  sin  d 

Rotational inertia of the circular strip about the diameter of the shell

dI = r 2 dm   R sin   2 R 2  sin  d 
2

dI = 2  R4 sin3  d
Rotational inertia of the shell is

I   dI   r dm   2  R4 sin3  d
2


= 2  R 4  sin 3  d  ---------- (1)
0

Here
  

 sin  d   sin  sin    1  cos  sin  d

3 2 2
 
0 0 0



=  sin   cos 2    sin   d 
0
 
=  sin  d   cos 2    sin   d
0 0

cos 

=  cos  0 
3 0

 1 1
=   cos     cos 0         2  
2 4
 3 3 3 3
Hence equation (1) will becomes:
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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera
Physics (HRK) Chapter 12: Rotational Dynamics

4 2
I = 2  R 4 .  ( 4 R 2  ) R 2
3 3
2
I MR 2 where M  ( 4 R 2  )
3
Rotational inertia of a solid sphere about its diameter
Fig, shows a solid sphere of radius R, mass M volume mass density  .Take a
spherical shell of radius r and width dr with in sphere.
2 2 2
dI  r * mass  r 2 * dm
3 3
mass of shell volume of shell

mass of sphere volume of sphere

dm 4 r 2 dr

M 4
 R3
3
3r 2
dm= Mdr
R3
So
2 2 3r 2
dI  r * 3 Mdr
3 R
2M 4
dI  r dr
R3
The moment of inertia of the sphere is the sum of moment of inertia of the various shells.
R
2M 4
I   dI 
R3 0
r dr

2M  R5  2
 3   0  MR `
2

R 5  5
Hence
2
I= MR 2
5

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Written and composed by: Prof. Muhammad Ali Malik (M. Phil. Physics), Govt. Degree College, Naushera