Rotation Summary

By
Shyam Mohan Bhaiya
 Moment of Inertia

'

1 .
I -_ MR for a particle , ring hollow cylinder
,

2 . I -_
Empt for a thin plate ,
disc ,
solid cylinder

0¥ Et
3 .
I =

ME about midpoint of thin rod

Sip
else 92

I =

Mzt about end of rod '-ge

4 plate about diameter MR? Er
. Thin
India
about diameter
Ring IDIEEMR
'

↳
S .
Rectangular Plate YI C%b
b÷?Fdetb7
through cm
h
6 . Cuboid I
-7=675) axis
parallel to h .

For square plate and Cube , put L=b=h .

7 Solid Stature about diameter

.

Empt
Hollow sphere about diameter
8 .

Emre
9 to
.

Cylinder About axis tr

length through cm .

R
.
I =

M +
Impi
42 llz

to .
Rod about axis inclined to rod at O

I -

Miseno rodqmorefafofeedgzyhseismhft.mg
vertical
angle 0 with axis .

¥71: meat
's * "" m

Perpendicular Axis Theorem

↳ I
for 2-D bodies ( Kamina)
z
g Only
sohjdod.DE
(thin plates ) NOT valid for
* .

Cor
Iz=IzetIy
,
,
Kandy axes lie in plane of the plate
the .

Z axis is NORMAL to the plane of plate .

 ROTATION about FIXED
(
Centre Axl 's P .

Allnpigrnlicbsanenahwi:L 's .c¥=o

, p÷¥f
des around P
a "
,

1 .

Velocity of a point A =Va=uw

se is distance of A from P .

xD
Tangential Acceleration of PA a
=
2 .

Vectors T got swing around P according to the

direction
of w and X respectively .

3 .

K =
{ Ip WZ
4 .

Ep =
Ipd

5 .
text = MAIM

p= Ip
( w
G-
about
Instantaneous Centre P
Sf point P is but has
permanentlyinstant
not
stationary
zero
velocity at an
only then

up =o but # Ap O .

The results also be applied P is

can
if
-

above
an instantaneous centre of rotation .
General Rigid Body motion =
Pure Translation Rotation about
with Ucm -1
a fixed cm

1 . Velocity of any point A with w .

Ta =
Tent rw2

tudou.IT?nIrB+Eo:..mm
z .

3 . K =
Invent 'zIcmw2
t

translational rtotatimal
Part part

4 .
Tcm =
Icm L

S .
text = MAIM
'

G -
L
about A
= Ican w t M
Van I

⇐mi::
.

+
 Examples of Instantaneous Centre P
1 .
Contact Point of a
body rolling without slipping
on a
stationary surface .

string wrapped
2 .
Contact Point of body with
a a

n' fixed to
around it and other end of string
support
""
a .
" "" '

Rolling w
without slipping .

q
Vem -_
f - Zrw row
cm

cnn.LY P Acm Nd

IP
Vcm=rw
'-
• .

Acm 'd iustt centre

Vp=o : .

rw
up -0 P : inst Centre zrw

✓
N

Instt Centre P ( Method 1)

↳ Using

==€=±MgSin0
.

p tx ngSinDr=Ecmtmr42
cm is at distance rfomp .

mgcoso So Acm=rL

without slipping Acm

Rolling mgs.no f M
- -

on incline .

about cm ( methods)
Taking torque
-

Lend
-

Tcm -_IcmL f- r=

Acm
Meghna -

f - M

Acm -=rL

Taking Icnimkg Acm=g µ

, >
tan
and fEhsN It Wf
'

ltrYk2

t time to
length
corer
l={ Acme
t-f-gs.no/tk4rr)
-

of incline

Yett bottom KNEEL Vaizey

DIEZ
tssstscs THE the solid sphere
7%7%17%76
ss :

Vss >
be >
Yes >"
Yee Sc : solid cylinder .
 Smooth Inclined plane
f - .

In absence of friction on smooth incline Tonio .

all N
as forces Mg and pass through cm .

Tonio 2=0 text =MgfinO=mAcm

w -

-
constant on smooth Acm -_
gs.no
inclined plane . Vem goes on
changing
Ym=rw is not possible on smooth incline .

smooth incline
Rolling without
Slipping Not possible on .
.

( riser ration of Energy on Incline

starting from rest .

ROUGH incline
smooth Incline
pure Rolling -

mgh Invent
-

-_
'

mgh= { Ipw w remains zero

tzmvcmttztcmht
.

OR mgh -_

Body slips down in pure

Translational motion
and Vcm=rw .

-7 For same h , Mcm at bottom will be more

rest in smooth incline
case of .

ai
Rest

I
- -
- -

1h
,

⇐
l
- -

- - -

1h
→ w
'

No
QI
-

=
.
. . . .
- - -
•
- spin
→ of '

telling 01 -
- - - -
- - -
- - *
. .

✓ →
cm h=lSinO 01
Vcm=rw •
. .

"m
km=¥i=f¥ YE-Fgsi.ee
R4r2 It 'R4r2
it =

Y MORE
LESS .
 General Approach to Rotational
solving Dynamics Problems .

( Accelerations Acm and d)

Finding
1 . Draw FBD (force diagrams) of each
body .

(Assume static friction in any

direction for

rolling without slipping .

)
Show Acm and X
by visuals motion
sing and by
.

2 .
or

judging direction of torque net force .

am

Possible Combinations of Acm and L for

on stationary surface
Rolling without slipping .

Icma text MAIM

3
Apply Ecm OR
Tp=IpL
-_ =

,
.

where P is a fixed or instantaneous entire .

Acm and others

4 . Relate .
the accelerations and a

and
string slipping constraints
constraints No
using .

if → Acm

Rolling without shipping on

stationary
Vcm=rw surface .

Acm -_rh

surface
Rolling
without
slipping on
Moving .

T → Acm Lf → Acm
: :
→ a → a

Acm -
ra =a Acmtrh = a

EQVATE.ae#ns of
-

points of contact .
 kinematics .

General
a- die
wdwdt or D=
do

w=dI
dt

For constant angular Acceleration L

W =
wot Lt

D= Not that
'

W' = wont 220

O =
{( w two) t

→w

÷:i÷:÷:÷ .

trh-ABI-q-IBI-l.no
Equation gives magnitude of w .

Direction of w can be
judged by directions of and
TB
,
✓ More
less VB t
"

ta e.
If
"# less
fi? more
YAL
%da.km.se Ea nw IBVBL
.

B A
- -

w anticlockwise
 Rigid Body Constraints
2 . To relate velocities of points A. B or cm
of a

rigid body with w :

a) Relate coordinates oft B and cm with an

,

angular coordinate 0 which any line in

the
rigid body makes with horizontal
or vertical .

b) Differentiate wrt 'd/dt to relate

time
velocities and angular velocity w .

B
÷ . a-
Ycni-lzcoso-dtvcm-lzwsinoi.ee
i

,
cm
e
I
t
0;
kA=lzSin0 Va Ew cos 0
=

f
.
NB -

{ Sind vBn=¥wCosO
A-0 Y,z=l Cos O =L w Sino
'

KA
Yzy
A N
-
e
,
Npfl Sind dat uVB=lwCosQ
Vai
mi ;
-

ya
-

land =lw Sino

VA
-

i. y so
i.
A ,
- -
- - -

gem -
X=LzSinO vcma=EwCosO
i s
I '

f-
EGO vcmy-htzws.no
' ' '

p
i i
,

Y :O
'
,
I :

tfzetano 4m=Ew
"
'
- and .

. . . .
, ,

O - - - - -
→
B VB
NB
f
we can also equate VA , ,=Yz , , to get VACosO=YzSinO
and also FAI few Vasinotvpcoso -_ Lw .
 Rigid Body constraints

3 . No slippingImbbing at contact points .

when two points touching each other do not

mb/shp
against each other
,
we can equate their velocities .

→ ZV
To FIND km and w of body if there
ti
radius •
no
slipping at contacts with rods .

→
No
shipping points A and B on top
Sv
and bottom ofbody will have
•A→zv same velocities the sods
as .

[ •--£
Assume km and win some direction .

W
- Using cm and A D Vom -

2v=rw
-

5- v
B
Using A and B 2) 5

-2¥ YEZV
v -
zu = ow
-

solve to get w
,

Alternative method .

translational partum
•A→z✓ HIM Adding
rw

and rotational part

(
no

[ ops
a- van
at A and B
,

w u→rw y Vem ow = Zu
-

w
-7 .-
5v
B5V B Van 2) Vcmtrw =

vcni-3.su w =
3¥ .

Differentiatingdid ① and ② we
and X
Can relate accelerations .

A Vcmtrw
b) shipping
v
For Va =3
-

no -

a Acm ,
→

Acmtra-a.AT
•

rw Tangentially , AAE 9
,

a
B → v
 Rigid Body constraints

4-
Constraints due to inextensible strings .
Three examples .

Points
along a straight portion of a
string must
have
a a
identical velocity and acceleration .

TTV
V
As
pulley
→
p
P
fixed , there should .kee9ud
is

→* ti speeds and accelerations on two sides of

pulley as shown .

between
wa w
frw Vem No
slipping
A. i. B • A rw=V
string and cylinder
&
-

L ¥m
'

II Acm
VA
V
=
VB
(m
Van - rw=- V

Acm -
rL= a

- l l l l l l 1111

wi em at rest Va=Yz= velocity of vertical portion of ng

( of
"

aA=aB along vertical T

waw
.

a .

Lik cm ,

VA=Y3 TW
,
=
Vem -

rwz eat rest

.

string
f

qq.IT
Wj
'
rt Acm raz
AA ab
-

- =

Wz ,

G. I :#
Acm

a
'
m " m

in?
W Pure rolling Vafrw ACER
vagi
→ ," ,

R
VA towards fixed pulley
- - - - - -
•→v
a =

VB
LI
'
Fcm tips Vcmtrw = U
Acmtr'd -_ a

d
l l l l l 11 I ll l l l l l M

P
B
at Iv
 ANGULAR MOMENTUM
-
-
- M

I
-

1 .

of a Particle (point mass ) 7 → u

J
.
.
-

A
[
about A=MVI # Lr dropped from A
Ea=FxmJ on T of particle .

2
. [ of a
Rigid Body
[ = icmw
about cm
profiled centre
-

b)
[
about St .

point p=Ipw ↳ inst

centre .

c) [about any point # =Ia= tcmwtrcmxmtfm

trim goes from A- to CMI
(LA -_
Icmwt MIMI ?
Ex A
clockwise
.

w is

MIwtGmYmE )
=

w LA -

Tom swings
⑨
em
cm Ct anticlockwise
around A
B
↳ =

M÷w + MYmhz w is clockwise

at th Tfmswings
Lahontan ¥mW=MfIw .
clockwise around A .

Ex .

of
If A- rolling without
shipping Laboutptpwahft ate

stationary Surface
.
.

on
✓
(
CNFICMW
em
1111111 I
about
'
s - in

p
Labour -

a
-_
Icmwttmtfmr) Vcmswings anticlockwise
E E around Qbutw clockwise .
 Angular Impulse .
J

1 .

J=fTdt ( definition)

9 I=Ir dropped from A 5 vector

Z .
Tabata =
I
J -
-
linear impulse
on

.
.

Calculate J by drawing impulse diagram .

- -

3 . Jcm =D
Lcm (about cm ) Impulse - Momentum
theorem
)
.

Jp P
=
Otp ( about
stationary point

4 .
5=0/5 (where F Mttcm for rigid Body)
-

Equations for Collision Problems .

Conservation Linear momentum

1 .

where
of
Impulse
is done
is
along an axis
component zero .

2 .
Conservation of Angular Momentum is done about a point
A if Tabata O '

CL is conserved about the point where all linear

impulses are
acting ) .

3-
Heparan on
= e
Yappwach applied along CN drawn

at the point of impact .

Ven components are

taken of velocities of colliding points .

4 .
5=05
Lcm about em
Jcm =D

5 I =D IT↳ P remains stationary

Jp=oLp if
.

during impact .
 from
Type
Transition
Wo slipping to Pure
Rolling
I
Vo >
two (
→
•

cm
Vo Mw
Mmg
Ima
→
Vem
Initial E- O •

A Aftertime
Pure
Wo
Rolling begins .

( Vem and w become constant

kinetic friction
Vo < two as
disappears .

•
→
C M
vo
'

A
wmmshmg
Initial E- 0

For no -
-
rwo parenting begins at to itself .

Short method to find Vern and w .

Conservation of L about A (as TA=o because

Mmg passes through
A- always)
-

Icmwotmuor = Icmwtmvr

Vcm=rw solve to get demand w .

find
To t
, apply Ym=UcmtAcmt
Alternative Method .

For Vo > two Veneto -

Ugt

w -
-

Nothing t
+ cm

Vcm=rw
For Vo < two

Vcnivotngt Heat = Loss in KE

w Wo unset Heat
ftzmnottztcmwo) tIpw
- -

- - -

Icon

Ym=rw .
P : contact point at time t
( ins H centre ) -

Wbyfidicnok = -

( Heat) .
 oeTIIYontau.pt -
Votrwo att -0 Possible final cases
a-
'
% ¥ > I fvdmandw
[
→
. vom
come out to be
@

Fm Vo
>

umg
A Aftertime Positive .

<_A→mfgwo Pure
Rolling begins .

Initial E- O
-

conservation L about A
1w€ If Vcmandw
- of lvcml
both come out
④
.

tcmwotmvor-Icmwtmv.cm
A
few.sk
re
negative .

Vcm=rw
IEEE You -0
.
.

I •
w=O

Solve for Vcmandw A

body comes to rest
. .

These
may come ortho be both positive

both negative or both zero .

Then use Vcnfucmtttcmt Veneno ugt

-

to find time t taking Ace ng

-

Alternative method
-

+
→ Vcm= Vo -

ngt
It -

w -

-
Wo
-

hmmatzrt To row
← Vo →
Vem
Vcm=rW UMG A.→ Vo T
.

C- > rwo A Aftertime

mm

t
Initial E- O
possible final cases
-

Pure
-

Rolling begins .

remain same above

as
diagrams .
Examples from CLASS -2
.

CLASS -3
.

C
CLASS -3
.

C
Ans : C
/
CLASS -4 .

ACD

A
 CLASS -
G

"
Find acceleration of block m.
Assume pulley to be massless
and hanging solid cylinder to be
⇐

masque . .

I
of mass M

M
CLASS -

D
 CLASS -

Find Acm and angular acceleration of spool

Assume pure rolling

" .

¥¥
" .

D
CLASS -

8 .
 CLASS -

Derive Ltt) .

A
 CLASS -9

Assume that ring does not leave B.

O
 CLASS -

9 .

A solid cylinder of radius r and mass M → WO

is given initial velocities as shown on the end
c
-
- - - -

A
-
-

A of the horizontal diameter so that contact point

-

has zero velocity. Assuming that the fixed

hemispherical track is sufficiently rough for pure
rolling of cylinder, find
Normal reaction when cylinder is at bottom and
Maximum height attained by CM of cylinder ←B→
.

during entire motion.

( Img Err agog

Take R = 4r and express answers
in terms of r.
. ,
Also take v. = gr
①
,
CLASS -
I 0

( see CLASS -

)
l l also

for this
question)
CLASS -

11 .
CLASS -12