TORQUE For a simple particle with mass m moving a long

a circular path with radius r, the moment of

 Torque is a measure of the force that
inertia of the particle is given by
can cause an object to rotate about an
axis. Just as force is what causes an 𝑰 = 𝒎𝒓2
object to accelerate in linear
𝑰 = Σ𝒎𝒊𝒓𝒊 𝟐
kinematics, torque is what causes an
object to acquire angular acceleration. Example:
 Torque is a vector quantity. The
(a) when rotated about an axis halfway
direction of the torque vector depends
between the weights.
on the direction of the force on the axis.
𝑰 = Σ𝒎𝒊𝒓𝒊 𝟐
HOW IS THE TORQUE CALCULATED?
l= (5kg)(2m)2 + (7kg)(2m)2
𝝉 = 𝑭𝒓 𝐬𝐢𝐧 θ
l= 20kg • m2 + 28kg •m2 = 28kg •m2
where 𝜏 is the torque, F is the magnitude of the
force applied on the object, r is the distance ROTATIONAL EQUILIBRIUM
between the point of contact of the force and
If the net torque on a rotatable object is
the axis of rotation, and 𝜃 is the angle between
zero then it will be in rotational equilibrium
r and F.
and not able to acquire angular
SI unit of torque is Newton-meter (𝑁 ∙ 𝑚). acceleration.
EXAMPLE: 𝜏1 + 𝜏2 = 0
𝝉 = 𝑭𝒓 𝐬𝐢𝐧 θ Example:
𝜏 = 900 N 0.80 m sin 71° = 680.77 N ⋅ m 𝜏1 + 𝜏2 = 0
Out of page (CCW) 𝜏1 + (−𝜏2) = 0
In rotational kinematics, torque takes the place 𝜏1 = 𝜏2
of force in linear kinematics. Newton’s 2nd law
𝐹1𝑟1𝑠𝑖𝑛𝜃1 = 𝐹2𝑟2𝑠𝑖𝑛𝜃2
of motion (F=ma) is equivalent to
(5𝑁) (0.075 𝑚) sin 135° = 𝐹2 (0.1𝑚) 𝑠𝑖𝑛90°
𝝉 = 𝑰a
𝐹2 = 0.265 𝑁. 𝑚/ 0.1 𝑚 = 𝟐. 𝟔𝟓 N
Where 𝜶 is the angular acceleration and 𝑰 is the
rotational inertia or moment of inertia. ANGULAR POSITION
MOMENT OF INERTIA To indicate the angular position of a
rotating object, or how far it has rotated,
Rotational inertia is a property of any object
we specify the angle 𝜃 of some particular
which can be rotated. It is a scalar value which
line in the object with respect to a
tells us how difficult it is to change the
reference line.
rotational velocity of the object around a given
rotational axis.
ANGULAR DISPLACEMENT
Angular displacement is the change in
angular position of the body. It is obtained
by taking the difference between the final
angle and the initial angle.
𝛥𝜃 = 𝜃𝑓 – 𝜃i
RADIAN
In rotational motion, angular position and
angular displacement are described in
radians, which is obtained from the arc
length that the angular displacement
covers.
1 rev = 360° = 2𝜋 rad
Example:
A bike wheel rotates 4.50 revolutions. How
many radians has it rotated?
4.50 rev = (4.5rev)(2 𝜋 rad/1 rev)
= 9.00 𝜋 rad or 28.3 rad
ANGULAR VELOCITY
The time rate of change in angular position
is called the angular velocity and is obtained
in a similar manner as (linear) velocity.
𝜔 = Δ𝜃 / Δt
The standard unit for angular velocity is
rad/s, however revolutions per minute
(rpm) is more commonly used.
Example:
A car wheel of radius 20 inches rotates at 8
revolutions per second on the highway.
What is the angular speed of the tire( in
rad/s)?
Rad= (8rev)(2 𝜋/1rev)
Rad= 50.27 rad/s
MOMENTUM
 Momentum is a measurement of
mass in motion: how much mass is
in how much motion.
 All objects have mass; so, if an
object is moving, then it has
momentum - it has its mass in
motion.
Linear Momentum is given by
𝒑 = 𝑚v
where 𝒑 is the momentum of the
object, m is the mass of the object, and
𝒗 is its velocity. The standard units for
momentum are 𝑘𝑔 ∙ 𝑚/𝑠.
ANGULAR MOMENTUM
- The linear momentum, p=mv, has a
rotational analog. It is called
angular momentum, L.
- To obtain the angular momentum
of a rotating body, we simply take
the moment of inertia of the object
and multiply it to its angular
velocity. Mathematically,
𝑳 = 𝑰w
where L is the angular momentum of
the object, I is the moment of inertia,
and 𝜔 is the angular velocity. It is
measured using SI base units: kg.m2/s
Example:
An object with the moment of inertia of
2 kg.m2 rotates at 1 rad/s. What is the
angular momentum of the object?
𝐿 = 𝐼𝜔
L = (2 kg ∙ 𝑚2)(1 𝑟𝑎𝑑/𝑠)
L= 𝟐 𝒌𝒈 ∙ 𝒎𝟐/s
 the equations for the moment of 𝜔 = Δ𝜃 / Δt
inertia for each regular shape rotated
w = (2rev)(2 𝜋 rad/1rev)/60
about an axis of symmetry.
w = 0.209 rad/ s
(a) Slender rod, axis through center

I = 1/12 ML2
L = Iw
(b) Slender rod, axis through one end
L = (0.198 kg • m2)(0.209 rad/ s)
I = 1/3 ML2
L = 0.041 kg • m2/s
(c) Rectangular plate, axis through center
LAW OF CONSERVATION OF ANGULAR
I = 1/12 M(a2 + b2)
MOMENTUM
(d) Thin rectangular plate, axis along edge
In the absence of any torques acting on the
I = 1/3 Ma 2 body, its angular momentum should always stay
the same.
(e) Hollow cylinder
𝐼𝑖𝜔𝑖 = 𝐼𝑓𝜔𝑓
I = ½ M(R12 + R22)
Example:
(f) Solid Cylinder
A 15 kg turntable with a radius of 25 cm is
I = ½ MR2 covered with a uniform layer of dry ice that has
(g) Thin-walled hollow cylinder a mass of 9 kg. The angular speed of the
turntable and dry ice is initially 0.75 rad/s, but it
I = MR2 increases as the dry ice evaporates. What is the
(h) Solid Sphere angular speed of the turntable once all the dry
ice has evaporated? Turntable is a solid cylinder
I = 2/5 MR2 platform.
(i) 2/3 MR2 𝐼𝑖 = 1/2 𝑚𝑟2 = ½(15 + 9 𝑘𝑔)(0.25 𝑚2) = 0.75
kg.𝑚2
Example:
𝐼𝑓 = 1/2 𝑚𝑟2 = 1/2(15 𝑘𝑔)(0.25 𝑚2) = 0.46875
L = Iw
kg. 𝑚2
Bicycle wheel with mass 2.0 kg and diameter
𝐼𝑖𝜔𝑖 = 𝐼𝑓𝜔𝑓
0.63 m rotating at a rate of 2.00 rpm. Assume
that the bicycle wheel is a thin-walled hollow (0.75kg.m2)(0.75rad/s) = (0.46875kg.m2)wf
cylinder. What is the angular momentum?
𝜔𝑓 = 1.2 𝑟𝑎𝑑/s
I = MR2

I = (2kg)(0.315m)2

I = 0.198 kg • m2
 PERIOD AND FREQUENCY OF A MASS
ON A SPRING
NEWTON’S LAW OF UNIVERSAL
GRAVITATION The period of a simple harmonic oscillator is
given by
Gravity is universal. This force of gravitational
attraction is directly dependent upon the T = 2 𝜋 √m/k
masses of both objects and inversely
The frequency of a simple harmonic
proportional to the square of the distance that
oscillator is given by
separates their centers.
f = 1/T
𝐹𝑔 = 𝐺𝑚1𝑚2 / r2
Angular frequency
where Fg is the gravitational force, m1 and m2
are the masses of the two particles, r is the 𝜔 = 2𝜋𝑓 = 2𝜋 / T
distance between the two particles, and G is the
universal gravitational constant, defined to be
Example:
𝐺 = 6.67 × 10−11 N ⋅ m2 /kg 2H
F = -kx
Example:
k = |F/x|
Consider a 50.0-kg object on the surface of
k = 45N/0.14m
earth. Earth has a mass of 5.972 x 10 24 kg and
radius of 6.371 x 106 m. Calculate the k = 321.43 N/m
gravitational force between them.

𝐹𝑔 = 𝐺𝑚1𝑚2 / 𝑟2 PENDULUM
−11 2 2
Fg = (6.67 × 10 N ⋅ m /kg )(50.0 kg)(5.972 × A simple pendulum has a small-diameter bob
1024 kg) / (6.371 × 106 m)2 and a string that has a very small mass but is
strong enough not to stretch appreciably. The
Fg = 491N
period of a simple pendulum is
SIMPLE HARMONIC MOTION
𝑇 = 2𝜋√𝑙 /g
in Physics, repetitive movement back and forth
Example:
through an equilibrium, or central, position, so
that the maximum displacement on one side of The pendulum on a cuckoo clock is 5.00-cm
this position is equal to the maximum long. What is its frequency?
displacement on the other side. 𝑇 = 2𝜋√𝑙 /g
x(t) = Acos(ωt) 𝑇 = 2𝜋√0.05m /9.8m/s2
Where A = amplitude, T = period, t = time, ω = T = 0.499s
angular frequency
F = 1/T
𝜔 = 2𝜋𝑓 = 2𝜋 / T
F = 1/0.499s
F = 2.23 Hz
DOPPLER EFFECT
Doppler effect is the apparent change in the
frequency of waves due to the relative motion
between the source of the sound and the
observer.
3 types of doppler effect formula
1. moving source, stationary observer
𝒇𝒓 = 𝒗 / 𝒗 ± 𝒖𝒔 (𝒇s)

𝒇𝒓 is the frequency of sound received by the

observer 𝒇𝒔 is the frequency of sound as it is
emitted by the source 𝒗 is the speed of sound
(343 m/s) 𝒖𝒔 is the speed of the source
(negative sign is used when the source is
moving toward the observer, and positive when
moving away from)
2. stationary source, moving observer
𝒇𝒓 = 𝒗 ± 𝒖𝒓/𝒗 (fs)

𝒇𝒓 is the frequency of sound received by the

observer 𝒇𝒔 is the frequency of sound as it is
emitted by the source 𝒗 is the speed of sound
(343 m/s) 𝒖𝒓 is the speed of the observer
(positive sign is used when the observer is
moving toward the source, and negative when
moving away from)
3. (General Case) moving source, moving
observer
𝒇𝒓 = 𝒗 ± 𝒖𝒓/𝒗 ± 𝒖𝒔 (𝒇s)
𝒇𝒓 is the frequency of sound received by the
observer 𝒇𝒔 is the frequency of sound as it is
emitted by the source 𝒗 is the speed of sound
(343 m/s) 𝒖𝒓 is the speed of the observer
(positive sign is used when the observer is
moving toward the source, and negative when
moving away from) 𝒖𝒔 is the speed of the
source (negative sign is used when the source is
moving toward the observer, and positive when
moving away from)