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Chapter 11: Rolling, Torque, and Angular

Momentum
• For an object rolling smoothly, the motion of the
center of mass is pure translational.
s=θR vcom = ds/dt = d(θ R)/dt = ωR
vcom = ωR
• Rolling viewed as a combination of pure rotation
and pure translation

• Rolling viewed as pure rotation


vtop = (ω)(2R) = 2 vcom

• Different views, same conclusion


• Rotational inertia involves not only the mass but also the
distribution of mass for continuous masses

• Calculating the rotational inertia I = r 2dm
The Kinetic Energy of Rolling
View the rolling as pure rotation around P, the kinetic energy
K = ½ IP ω2
parallel axis theorem: Ip = Icom +MR2
so K = ½ Icomω2 + ½ MR2ω2
since vcom = ωR

K = ½ Icomω2 + ½ M(vcom)2

½ Icomω2 : due to the object’s rotation about its center of mass


½ M(vcom)2 : due to the translational motion of its center of mass
Sample Problem: A uniform solid cylindrical
disk, of mass M = 1.4 kg and radius R = 8.5 cm,
rolls smoothly across a horizontal table at a
speed of 15 cm/s. What is its kinetic energy K?

vc.m. = 0.15m/s

Idisk =1/2MR2 = (0.5)(1.4kg)(0.085m)2 = 5.058x10−3kg m2

ω = v/R = (0.15m/s)/0.085m = 1.765 rad/s

1 1 2
K = K trans + K rot = Mv c.m. + Iω
2

2 2
1 1
K = K trans + K rot = (1.4)(0.15) + (5.058x10 −3 )(1.765) 2
2

2 2
= 15.75x10 −3 + 7.878x10 −3 = 23.63x10 −3 J
Vector Product (Review)
• Vector product of vectors a and b
produce a third vector c whose
magnitude is
c = a b sin φ
whose direction follow the right hand
rule

if a and b parallel => a x b = 0


if a and b perpendicular => a x b =ab
ixi= 0 ixj= 1
Note: a x b = - ( b x a )
Torque revisited
• For a fixed axis rotation, torque τ = r F sinθ
• Expand the definition to apply to a particle that
moves along any path relative to a fixed point.

r r r
τ = r ×F
• direction : right-hand rule
• magnitude :τ = rF sin Φ = rF⊥ = r⊥ F
Angular momentum
• Angular momentum with respect to
point O for a particle of mass m and
linear momentum p is defined as
v r r r r
l = r × p = m ( r × v)
direction: right-hand rule
magnitude:
l = r p sin φ = r mv sin φ

• Compare to the linear case p = mv


Particles 1, 2, 3, 4, 5 have the same mass and speed as shown in the
figure. Particles 1 & 2 move around O in opposite directions.
Particles 3, 4, and 5 move towards or away from O as shown.

2r 2r

r r

Which of the particles has the greatest magnitude angular momentum?


Particles 1, 2, 3, 4, 5 have the same mass and speed as shown in the
figure. Particles 1 & 2 move around O in opposite directions.
Particles 3, 4, and 5 move towards or away from O as shown.

2r 2r

r r

l = r p sin φ = r mv sin φ φ = 90o only for 1 and 2, but r1= 2r2.


Which of the particles has the greatest magnitude angular momentum?
1) 1 2) 2 3) 3 4) 4 5) 5 6) all have the same l
Newton’s Second Law in Angular Form
r
r dl
τ net =
dt
r
• τ net : the vector sum of all the torques acting on
the object r
r dp
• Comparing to the linear case: Fnet =
dt
• Newton’s 2nd law for a system of particles
r n r
r dL total r
τ net = Ltotal = ∑ li
dt i =1

– Net external torque equals to the time rate change of the


system’s total angular momentum
Torque and Angular Momentum

v v v
v dl d ( r × mv)
τ net = =
dt dt
v
v  dv  v v v v
= r ×  m  = r × (ma ) = r × F
 dt 

Torque is the time rate of change of


angular momentum.
A Quiz
Particles 1, 2, 3, 4, 5 have the same mass and speed as shown in the
figure. Particles 1 & 2 move around O in opposite directions.
Particles 3, 4, and 5 move towards or away from O as shown.

2r 2r

r r

Which of the particles has the smallest magnitude angular momentum?


1) 1 2) 2 3) 3 4) 4 5) 5 6) all have the same l
A Quiz
Particles 1, 2, 3, 4, 5 have the same mass and speed as shown in the
figure. Particles 1 & 2 move around O in opposite directions.
Particles 3, 4, and 5 move towards or away from O as shown.

2r 2r

r r

l = r p sin φ = r mv sin φ φ = 0o for 5. => l = 0


Which of the particles has the smallest magnitude angular momentum?
1) 1 2) 2 3) 3 4) 4 5) 5 6) all have the same l
The angular momentum of a rigid body
rotating about a fixed axis
• Consider a simple case, a mass m rotating z
v y
about a fixed axis z: r
l = r mv sin90o = r m r ω = mr2ω = I ω x

• In general, the angular momentum


of rigid body rotating about a fixed axis is
L=Iω
L : angular momentum along the rotation axis
I : moment of inertia about the same axis
Conservation of Angular Momentum
• If the net external torque acting on a system is zero, the
angular momentum of the system is conserved.
r r
r
if τ net = dL then L = const
dt
r r
• If τnet, z = 0 then Li, z = Lf, z L i= Lf

• For a rigid body rotating around a fixed axis, ( L = I w )


the conservation of angular momentum can be written as

Ii ωi = If ωf
Some examples involving conservation
of angular momentum
• The spinning volunteer

Ii ωi = If ωf
Angular momentum is
conserved

Li is in the spinning wheel

Now exert a torque to flip its rotation.


Lf, wheel = −Li.

Conservation of Angular momentum means that the person must


now acquire an angular momentum.
Lf, person = +2Li
so that Lf = Lf, person + Lf, wheel =+2Li + −Li = Li.
Problem 11-66
Ring of R1 (=R2/2) and R2 (=0.8m),
Mass m2 = 8.00kg.
ωi = 8.00 rad/s. Cat m1 = 2kg. Find
kinetic energy change when cat walks
from outer radius to inner radius.

Initial Momentum

L i = L i ,cat + L i ,ring = m1R 2 v i + Iωi


1
= m1R ωi + m 2 (R 12 + R 22 )ωi
2
2
2
 1 m  R 2

= m1R 2 ωi 1 +
2 2
 2 + 1 
1

 2 m 1  R 2 
Problem 11-66
Ring of R1 (=R2/2) and R2 (=0.8m),
Mass m2 = 8.00kg.
ωi = 8.00 rad/s. Cat m1 = 2kg. Find
kinetic energy change when cat walks
from outer radius to inner radius.
Problem 11-66
Ring of R1 (=R2/2) and R2 (=0.8m),
Mass m2 = 8.00kg.
ωi = 8.00 rad/s. Cat m1 = 2kg. Find
kinetic energy change when cat walks
from outer radius to inner radius.

Final Momentum

L f = L f ,cat + L f ,ring = m1R 1v f + Iωf


1
= m1R ωf + m 2 (R 12 + R 22 )ωf
2
1
2
 1 m  R 2

= m1R 1 ωf 1 +
2 2
 2 + 1 
2

 2 m 1  R 1 
Problem 11-66
Problem 11-66
Ring of R1 (=R2/2) and R2 (=0.8m),
Mass m2 = 8.00kg.
ωi = 8.00 rad/s. Cat m1 = 2kg. Find
kinetic energy change when cat walks
from outer radius to inner radius.

Initial Kinetic energy Ki is:

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