Torque produced by a force is equal to the cross product of the position vector (+) of the force and the force (F ). Special Cases :- + = rFsin0 (i) When 0 = 0 or 180 (i.e.,# and Fare in the same direction or opposite), then, 1 = rFsin0=0 (ii) When 0 = 90 (ie., angle between 7 and Fis 90), then, t = 7 Fsin90=rF’... maximum (iii) When r is maximum then torque is maximum thus we open or close door easily by applied force near the outer edge of the door i.e at maximum distance from axis of rotation. ; ee | y 3| F, F as Rectangular component of torque:-Now #=7 «i =(xi+sj+2h)(Ri+ J+ F i= 5 Comparing the components of {,j&& — t, =(yF,-2F,) .1, =(F,-xF,)st, =@F, -¥F.) EXPRESSIONS FOR TORQUE:- torque is only due to angular component of force / AONP, we have 2N =sing or S=sind OP t 1. d=rsin® this is Perpendicular distance of the line of action of force from axis of rotation through the point O and is called moment! arm, thus t = rFsinO=Fr sin0=Fd i) i. radial component of force is Fcos0 is along the direction Of position vector ii. Angular or tangential component of force is Fsin® is perpendicular to r. thus from equation (i) < = (Fsin0)r Torque = angular component of force xits distance from axis of rotation Thus torque produced by a force is equal to the product of the magnitude of the perpendicular component of force and the magnitude of the displacement from the axis of rotation to the point of application of the force. Work done by the torque: - suppose a body undergo an angular displacement A@ under the action of tangential force F. The small work done by the applied force is AW = Fx distance along are PQ But ag=-72 =P thus Arc PQ =rA0 lius or Hence AW = Frd0 orAW = tA0 Thus work done by a torque = torque * angular displacement 6 If the torque applied is not constant, but variable then W= i dO 4,Thus Angular momentum is equal to the product of the magnitude of the perpendicular component of linear momentum and the magnitude of the displacement from the axis of rotation to the point of application of the force. Rectangular component of Angular 1 ae momentum: £ =x p=(ci+yj+2k)x(p,i+p,j+pA)=|2 yz Ps Py Pe Comparing the components of i,j && L, = (yp. -zp,) ,L, = (zp, -xp.),L, = (xp, - yp.) RELATION BETWEEN TORQUE AND ANGULAR MOMENTUM Torque, 7=7xF -(1)and angularmomentumis, L=?xp -(2) Differentiating (2) both sides w.r.t. times t we get Gedienear a dp. e dp 2 +n sere os =x ptixS six pr exP=0+7 »2=F and Vxp=vxmv=0 dt ae*?) fata? or races e dt _ Thus the time rate of change of angular momentum of the particle is equal to the net torque applied to the particle. Equilibrium of rigid body: rigid body is said to be in equilibrium if both the linear momentum and angular momentum of the rigid body remain constant with time. Or if the net external force or torque acting on it does not change the translational or rotational state of body. v Conditions for equilibrium :-(i) translational equilibrium:- A rigid is said to be in translational equilibrium if it remain at rest or move with constant velocity. Which is possible if net external force on the body is zero. a5 dV, Dw =0 ie, ou Sou = 0. butM#0thus —“=9 orVew=0 i & i or M oe = 0 or = 0 or A= Constant a. Ifa body is at rest it is said to be in static equilibrium. eo) b, If the body is in uniform motion along straight it is in dynamic equilibrium. (i) Rotational equilibrium: - A rigid is said to be in rotational equilibrium if it does not rotate or rotate with constant angular velocity. Which is possible if net external torque on the body is zero? De, =0 ie $-0 but L - constant i.e body is in equilibrium if total angular momentum does not change. a. Stable equilibrium: - a body remains in its equilibrium state even released. ™ 5.Un- stable equilibrium:-a body get further displaced from its equilibrit slightly displaced and released. Principle of moments:-when a body is in rotational equilibrium, the moments about any point is equal to the sum of anticlockwise mor algebraic sum of moments about any point is zero. 3From fig clockwise moment about O is F1 x di=W: * di anticlockwise moment about O is F2 x dy=W2 * dz Fy=mjg=W, and Fr=mg=W2 according to principle of moments, anticlockwise moment = clockwise moment F,x do=F\x di) or Wix di = W2% do Couple:-A pair of equal and opposite forces acting on a body along two different lines of action constitutes a couple. A couple has a turning effect, but no resultant force acts on a body .so it cannot produce translation motion but can rotate. Ex, steering of car, lid of bottle opening a tap. t iF Moment of couple about O is A_O [| B t =F x AO+F x OB = F(AQ+ OB) = Fx AB= Fd 4 FY e Moment of couple = force xperpendicular distance between thetwoforces. Thus moment of couple is equal to the product of either force and perpendicular distance between the two forces Example 13.7. An electron of mass 9 x 10! kg revolves in a circle of 0.53 C around the nucleus of hydrogen atom with a velocity of 2.2 x 10° ms“ Find the angular momentum of the electron about the centre of the circle. Solution. Angular momentum of electron is given by; L = rmv Here r=0.53C=0.53x 10m; m=9x10"'kg; v=2.2x 10°ms" or L = (0.53 x 107) x (9x 107) x(2.2* 10%) = 1.0494 x 10 Js Moment of inertia:-MI of a rigid body about a fixed axis is defined as the sum of the product of the masses of the particle consisting the body and the square of their respective distance from their axis of rotation oo v T= mre + mre + mye +... = mr Its unit is kg m? Physical significance of moment of inertia:- it is the measure of inertia of rotational motion of the body. It resists the change in its rotational motion. The greater the M.1 of a body, the greater is the torque required to change its state of rotation The M.I plays the same role in rotational motion as the mass plays in linear motion. so it is called as the rotational analogue of mass in linear motion. Factors on which the M.I depends:-1. Mass of the body. 2. Size and shape of the body. 3. Distribution of mass about the axis of rotation. 4. Position and orientation of the axis of rotation w.r.t the body. Relation between rotational KE and M.I:-let the body consist of n particle mass. ‘m,...m, at distances r;,7,,7,,...7, from axis of rotation .the angulRelation between torque and moment if inertia:-consider a particle P of mass m, at distance r) body. i v Let linear acceleration of first particle ay = rja. Force acting on the first particle, F =m, nia Moment of force about the axis of rotation is 1, = yr, =mra Total torque is r=7, +7, +...t, =myra+ myrpat mya t... +My y r=) (mr?)r=1a _ i.e torque is equal to the product of MOI and angular acceleration Relation between angular momentum and moment of inertia:-consider a rigid body rotating about a fixed axis with angular velocity . The body consists of n masses .the angular velocity fo all particles is same. Linear momentum for first particle is p) = miv) = mimo Angular momentum for first particle is L) = pyr) = mir? Total momentum La LL, +...L, =mfo+m,r30+ m0 +...+m,720 = (mr? + myr} + mgr} +...+m,r2 jo L=S(mr*)o=1@ ie Angular momentum is equal to the product of MOI and angular veloc 2 2 = (mr? + mgr? + my +. LAW OF CONSERVATION OF ANGULAR MOMENTUM If net torque on a system is zero, then change in its angular momentum with time is also zero i.e., if r=44 <9 At Then AL=0 or L = Io= Constant vector ,or l@=her This is known as the law of conservation of angular momentum and may be stated as under: If the net torque on a system is zero, then the total angular momentum of the system remains constant. ‘The two important situations in which torque 7 = 7x # on a particle (or body) is zero are: () Ifno external force acts on the particle. In that case, the angular momentum of the particle is constant. ie for F=0, ¢=7xF=0 and L = Constant. in this case, linear as well as angular momentum remains the same. Consequently, the particle moves with a uniform speed in a straight line. (ii) The force on the particle happens to be parallel or anti-parallel to position vector ¢. Then #=FxF=0, L =is constant. In other words if a force on the Particle is radial, the angular momentum of the particle remains constant. Example of law of conservation of momentum 1. Planetary motion:- the angular velocity of a planet revolving in an elliptical orbit around sun increases when it come closer to sun because its M.I about the axis through sun Decreases. As es loi=ha. 2. A ballet dancei ballet dancer increases its speed when take her arms cies because I = mr’ so when r increases ,M.I increases so in order to keep L c decreases or when r decreases ,M.I decreases so in order to keep L increases.