System of particles and rotational motion

System of Particles and Rotational Motion

Rigid body
Ideally a rigid body is a body with a perfectly definite and unchanging shape. The
distance between all pairs of particles of such body do not change.

Pure Translation Motion .

In pure translation motion at any instant of time all particles all particles of
the body have the same velocity.

Pure Rotational Motion

In rotation of a rigid body about a fixed axis, which lies a plane perpendicular to
the axis and has its centre on the axis.
a) The motion of a rigid body, which is not pivoted or fixed in some way is either in
some way is either a pure translation or a combination of translation and rotation.
b) The motion of a rigid body, which is not pivoted or fixed in some way, is rotation.

Centre of Mass
Centre of masses of a body is a point where the entire mass of the body can
be supposed to be concentrated.
 It is not necessary that the total mass of the system be actually present at the centre of
mass.
Ex In solid sphere the centre of mass is located at its geometrical centre the mass will
lie at this point but in a hollow sphere there will be no mass at its geometrical centre
where centre of mass will lie.
 So the position of centre of mass of homogenous bodies of regular shape at its
geometrical centre.

Centre of Mass of Two Particles System

Consider a system of two particles A and B of masses m and m and let
r⃗ and r⃗ be their position vectors.
The velocity and accln vectors of the two particles.
d r ⃗ d V ⃗
V⃗ = ,a =
dt dt

1
 System of particles and rotational motion
⃗ ⃗
and, V⃗ = ,a = Y
mA ⃗
Total force acting on the particle A A
⃗
= F⃗ + F⃗
⃗ ⃗ ⃗
And total force acting on the particle B ⃗
mB

= F⃗ + F⃗ B
⃗
Now, according to Newton’s second law,
O
m a = F⃗ + F⃗ − −(1) X

and m a = F⃗ + F⃗ − −(2)
adding these two eqns.
m a + m a = F⃗ + F⃗ + F⃗ + F⃗
or, F⃗ + F⃗ = m a⃗ + m a⃗ ∵ F⃗ = −F⃗

so, F⃗ = m a⃗ + m a⃗ − −(3)
Suppose total external force F⃗ acting on the system of mass M produces accln a⃗ is,
F⃗ = Ma⃗ [∵ M = m + m ]
From eq. 3
d V ⃗ d V ⃗
F⃗ = m +m
dt dt
d r ⃗ d r ⃗
d
dt dt
= m +m
dt dt
d
F⃗ = ( m r⃗ + m r⃗ )
dt
d
ma cm = ( m r⃗ + m r⃗ )
dt
d R⃗ d m r⃗ + m r⃗
= [∵ M = m + m ]
dt dt m + m

⃗ + ⃗
clearly ⃗ =
+

2
 System of particles and rotational motion
 If the centre of mass of n-particles system
m r⃗ + m r⃗ + ⋯ … … . . +m r⃗
R⃗ =
m + m + ⋯ … … . +m

∑ ⃗
⃗ =
∑

 Cartesian co-ordinates of the centre of mass.

+ + ⋯……..+ ∑ ⃗
= =
+ + ⋯…….+ ∑
+ + ⋯……..+ ∑ ⃗
= =
+ + ⋯…….+ ∑
+ + ⋯……..+ ∑ ⃗
= =
+ + ⋯…….+ ∑

Solved Examples
1. Find the centre of mass of three particles at the vertices of an equilateral triangle.
The masses of the particles are 100g, 150g and 200g respectively. Each side of the
triangle is 0.5m long.
Ans:- AP = 0.5sin 60
√3
= 0.5
= 0.25 √3. Y
2 A
m x +m x +m x (0.25,0.25√ )
X =
m + m + m
100 × 0 + 150 × 0.5 + 200 × 0.25
X =  C
100 + 150 + 200
125 0.5,0
X = = . (0,0) 60
450
O P B X
m y +m y +m y
and y = (0.25,0)
m + m + m

3
 System of particles and rotational motion
100 × 0 + 150 × 0 + 200 × 0.25√3 50√3 √3
y= = = =
100 + 150 + 200 450 9 √

2. Find the centre of mass of uniform L shaped lamina (a thin flat plate) with
dimensions as shown in fig. the mass of the lamina is 3kg.
Ans:- The co-ordinates of the centre of masses C , C and C of three squares are,
C  , ,C  , and C  , Y

So, the centre of mass of the lamina.

E (1,2)
m x +m x +m x F
X = 
m + m + m 0 (1,1)
(0,1) B
× × × (2,1)
= (0,0)
 

O (1,0) (2,0) X
∴ = .
m y +m y +m y
and Y =
m + m + m
1 1 3
1 × + 1 × + 1 ×
= 2 2 2
1+1+1

∴ = .

So, the centre of mass of the L- shaped lamina lie on the OD.

3. From a uniform circular disc of radius ,a circular disc of Radius and having
centre at a distance from the centre of the disc is removed. Determine the
centre of mass of remaining portion of the disc.
Y
Ans:- Suppose mass per unit area of the disc is m.
So, total mass of the original disc M = πR × m.
Mass of portion removed from the disc.
M’ = π × m. x

M’ = m. O’
  
If, x is the distance of centre of mass P of the X’ P O X
remaining part of the disc. From O. R/2

4
 System of particles and rotational motion
R
m x −m x M×0−M ×
x = = 2
m − m M−M
πR m R 1 R
M R × = ×
∴ x = × = 36 2 36 2
M − M 2 πR m πR m 1
− 1−
36 36
−R
∴ x =
70

4. Show that the centre of mass of a conform rod of mass M and length L lies at the
middle point of the rod.
x
Ans:- Mass of small element = = dx

Now, the position of the centre of mass is,

O dx
L
1
x = x dm
M

1 M ∑ m x
= x dx. ∵ x =
M L ∑ m

1 1 x 1
= x dx = = [L − 0]
L L 2 2L

∴ = .
Proved.

5
 System of particles and rotational motion
Motion of Centre of Mass

The position vector of the centre of mass of n-particles system is given by,
m r⃗ + m r⃗ + ⋯ ⋯ + m r⃗
R⃗ =
m + m + ⋯ ⋯ + m
1
R⃗ = ( m r⃗ + m r⃗ + ⋯ ⋯ + m r⃗ )
M
Differentiating both sides, w.r.t time.
d R⃗ 1 d r⃗ dr⃗ d r⃗
= m +m + ⋯⋯⋯+ m
dt M dt dt dt
1
V⃗ = ( m v⃗ + m v⃗ + ⋯ ⋯ + m v⃗ )
M
M V⃗ = m v⃗ + m v⃗ + ⋯ ⋯ + m v⃗
Again differentiating both sides w.r.t time.
d V⃗ d v⃗ d v⃗ d v⃗
M = m +m + ⋯⋯+ m
dt dt dt dt
M a⃗ = m a⃗ + m a⃗ + ⋯ ⋯ + m a⃗
M a⃗ = F⃗ + F⃗ + ⋯ ⋯ + F⃗

So, ⃗ = ⃗
So, the centre of mass of a system particles moves as if the entire mass of
the system were concentrated at the centre of mass and all external forces were applied at
that point.

Linear Momentum of a System of Particles

Lat a consider a system of n particles with masses m , m ⋯ ⋯ m moving with
velocities v⃗ , v⃗ ⋯ ⋯ v⃗ respectively.
For the system of n particles the total linear momentum is vector sum of all
individual momentum of the particles.
P⃗ = P⃗ + P⃗ ⋯ ⋯ P⃗ − −(1)
MV⃗ = m v⃗ + m v⃗ + ⋯ ⋯ + m v⃗
Differentiating eq. 1) w.r.t time,

6
 System of particles and rotational motion
d P⃗ d P⃗ d P⃗ d P⃗
= + + ⋯⋯⋯+
dt dt dt dt
d P⃗
= F⃗ + F⃗ + ⋯ ⋯ + F⃗ = F⃗
dt
Now, In an isolated system the vector sum of external forces acting on a system of
particles is zero.
d P⃗
So, = 0, P = constant.
dt
⃗ = ∴ =

Solved Examples
1. Two blocks of masses 5kg and 2kg are placed on a frictionless surface and
connected by a spring. An external kick gives a velocity of 14m/sec to the heavier
block in the direction of lighter one. Calculate the velocity gained by the centre of
mass.
m v +m v 5 × 14 + 2 × 0
: − V = =
m + m 5+2
70
∴ V = = 10m/ sec in the directin of lighter one.
7

2. Two particles of masses 100 g and 300g at a given time have positions 2 ̂ + ̂ +
− ̂+ ̂− respectively and velocities
10 ̂ − ̂ + ̂ − ̂ + Determine the instantaneous position and
velocity of CM.
m r⃗ + m r⃗
: − R⃗ =
m + m
0.1 2ı̂ + 5ȷ̂ + 13k + 0.3 −6ı̂ + 4ȷ̂ − 2k
R⃗ =
0.1 + 0.3
. ̂ . ̂ . . ̂ . ̂ .
=
.
−1.6ı̂ + 1.7ȷ̂ + 0.7k − ̂+ ̂+
 R⃗ = =
0.4
. ,

7
 System of particles and rotational motion
m v⃗ + m v⃗
V⃗ =
m + m
0.1 10ı̂ − 7ȷ̂ + 3k + 7ı̂ − 9ȷ̂ + 6k
V⃗ =
0.1 + 0.3
̂− ̂+
V⃗ = / .

Torque or Moment of Force

The torque or moment of force is the turning effect of the force about the
axis of rotation, and it is the product of magnitude of force and perpendicular distance
from the axis of rotation.
⃗ = ⃗ × ⃗ = .( − )
Where in the direction of torque which will find out by the right
hand screw rule.

 ⃗ is always perpendicular to ⃗ ⃗.

Agular Momentum
The angular momentum of a particle rotating about an axis is defined as the
moment of linear momentum of the particle about that axis.
⃗ = ⃗ × ⃗ = ( .  )
And again
⃗  ⃗ ⃗  ⃗
 Linear velocity is also the cross product of ω and r
⃗ = ⃗ × ⃗ ⃗ = ⃗ × ⃗

Relation b/w orque and Angular Momentum

Angular momentum, L⃗ = r⃗ × p⃗
Differentiating both sides w.r.t time,
dL⃗ d (r⃗ × p⃗) dp⃗ dr⃗
= = r⃗ × + p⃗ ×
dt dt dt dt
dL⃗
or = r⃗ × F⃗ + p⃗ × V⃗
dt
8
 System of particles and rotational motion
dτ⃗
∴ = r⃗ × F⃗ + 0 (∵ p⃗ × V⃗ = PV sin 0 = 0.)
dt
⃗
So, ⃗ =

Power associated with orque

Small amount of work done in rotating a particle through a small angle dθ.
dw =  d θ
dw  dθ
divide dt both sides, =
dt dt
= 

So, = 

Solved Examples
1. Show that angular momentum of a satellite of mass Ms revolving around earth of
mass Me in an orbit of radius r is
v G M M
: − M =
r r

G M
v =
r

Angular momentum of satellite L = M v r

L = M v × r =

Proved.

2. A grinding stone of radius 2m revolving at 120 r pm accelerates to 660 rpm in

9sec. find the angular acceleration and linear acceleration.
ω −ω 2π(ν − ν )
: − α = =
r t

9
 System of particles and rotational motion
660
2π(11 − 2) ∵ 660 rpm = = 11rps
= 60
9 120
and 120 rpm = = 2 rps
60
∴ ∝= 2π rad / sec
And a = α r = 2 2=4 m/s2.

3. A disc of radius 0.5m is rotating about an axis passing through its centre and
perpendicular to its plane. A tangential force of 2000 N is applied to bring the
disc to rest in 2sec. calculate its angular momentum.
Ans:- τ⃗ = r⃗ × F⃗ = −2000 × 0.5 = −1000N − m.
L −L 0−L
and  = =
t 2
L
So, −1000 = −
2
∴ = .

4. Two particles, each of mass m and speed V, travel in opposite directions a long
parallel lines separated by a distance d. show that the vector angular momentum
of the two particle system is the same wherever be the point about which the
angular momentum is taken.
⃗
Ans:- At point A
L ⃗ = 0 × m v⃗ + d⃗ × m ⃗

L ⃗ = m v⃗ d − −(1)
At point B,
⃗
L ⃗ = d⃗ × m ⃗ + 0 × m v⃗
L ⃗ = d⃗ × m ⃗ − −( )
,
L ⃗ = x⃗ × m ⃗ + d⃗ − ⃗ × m v⃗
L ⃗ = m ⃗ d − −(3)
So, = =
Proved.

10
 System of particles and rotational motion
5. A particle performs uniform circular motion with an angular momentum L. if
the frequency of particle’s motion is doubled and its K.E is halved, what happens
to its angular momentum?
Ans:- Angular Momentum,
v mv
L = m v r = m v × =
ω ω
mv 1 1
So, L = = mv ×
2πν 2 πν
K. E
L =
πν
K. E K. E 1 K. E L
and L = = = =
π ν 2 × π × 2ν 4 πν 4

∴ =

6. A particular is moving along a straight line parallel to x-axis with constant

velocity. Does its angular momentum about the origin decrease with time or
increase with time or remain constant?
Ans:- Velocity in the X- direction
dx d vt
V = = =V
dt dt
dy db ⃗
V = = = 0
dt dt
and v = 0 O vt A X
So, L⃗ = r⃗ × mv⃗ = m (r⃗ × v⃗)
ı̂ ȷ̂ k
L⃗ = m vt b 0 = mk [v t × 0 − v b]
v 0 0
So, L⃗ = − m v bk⃗ ∙= constant.

7. A particle of mass m is released from point P at x = xo on the x-axis from origin O

and falls vertically along the Y – axis, as shown in fig.
a) Find the torque acting on the particle at a time t when it is at point Q with
respect O.
b) Find the angular momentum (of the particle about O at this time t).
11
 System of particles and rotational motion
c) Show that  = in this example.
Ans:- (a)  = r F sin θ = r  mg  ∵ sin θ =
 = mg x directed into the plane of the paper directly inward – k ∙ (x)
( ) L = m v r sin θ = [∵ v = u + at = gt]
X=X0 
∴ L = P
dL d mgx t
( ) L = mgx t Now, = = mgx ⃗
dt dt
= 

  = F = mg

8. An electron of mass 9 10-31 kg revolved in a circle of radius 0.53 A around the

nucleus of hydrogen with a velocity of 2.2106 m/sec. show that its angular
momentum is equal to where h is Planck’s constant of value 6.6 10 -3 J – sec.
Ans:- Angular Momentum
L = m v r = 9 10-31 2.2  106  0.5  10-10
 L = 1.0494 10-34 J – sec.
h
= 1.0503 × 10 J − sec
2π

∴ ≃ .

Expression for orque in Cartesian Co-Oridnates

Consider a particle of mass ‘m’ rotating in a plane XY.
In a small time dt let the particle at P reach Q. ⃗
Y
Q
In vector triangle OPQ.
⃗)

OP⃗ + PQ⃗ = OQ ⃗
(⃗ +

and PQ⃗ = OQ ⃗– OP⃗ ⃗

dθ
PQ⃗ = r⃗ + dr⃗ − r⃗ = dr⃗ θ

O
Now, small amount of work done to rotate a body
12
 System of particles and rotational motion
from P to Q is,
dw = F⃗ ∙ dr⃗
dw = ı̂ F + ȷ̂ F ∙ (ı̂dx + ȷ̂ dy)
dw = F dx + F dy − − − (1)
From fig,
x = r cos θ − − − (2)
and y = r cos θ − − − (3)
Differentiating both sides w.r.t θ,
 dx = - r sin θ dθ = - y dθ ---- (4)
and dy = r cos θ dθ = x dθ − − − (5)
Substitute these values in equ. (1)
dw = F (−y ∙ dθ) + F x dθ = x F − y F dθ − −(6)
∴ dw = τ d θ − −(7)
From eqn (6) and (7)

= −

Expression for orque in Polar- Coordinates

Suppose the line of action of force F⃗ makes an angle  with X- axis.
F = F cos  − − − − − (1)
F⃗
F = F sin  − − − − − (2) Y
(x,y)
And p
θ

x = r cos ∅ − − − − − (3) θ
r⃗
y = r sin ∅ − − − − − (4)

Substitute these values, Ø
O 90 X
τ = x F − y F Type equation here Line of
action
τ = r cos ∅ F sin  − r sin ∅ F cos 
τ = r F[sin  cos ∅ − cos  sin ∅ ]
13
 System of particles and rotational motion
∵ θ + ∅ = α
τ = r Fsin (α − ∅)
∴ θ= α−∅
∴ =

Expression for Angular Momentum in Cartesian Co-ordinates

τ = x F − y F
d p d p
τ = x − y
dt dt
d V d V
τ = x m − y
dt dt
d V d V
τ = m − y
dt dt
d
τ = m x V − y V
dt
d V d V d
since − y is the dufferentiation of x V − y V
dt dt dt
d
So, τ = x m V − ym V
dt
d
τ = x p − y p − − − − − (1)
dt
dL
and τ = − − − − − (2)
dt
From eq. (1) and (2)

= −

Expression for Angular Momentum in polar co-ordinates

L = x p − y p − − − −(1)
And P = P cos α − − − −(2)
P = P sin α − − − (3)
Again x = r cos Ø ---- (4)
14
 System of particles and rotational motion
y = r sin Ø ----(5)
Now, Y P⃗
L = x p − y p θ
Q
L = r cos Ø P sin α − r sin ∅ P cos α (x,y)
L = r p [sin α cos∅ − cos α sin ∅] θ
L = r p sin(α − ∅) r⃗

∵ ∅ + θ = α Ø

=
∴θ = α−∅ O X
Type equation here

Equilibrium of Rigid Bodies

A body is said to be in equilibrium if both the linear

momentum and angular momentum if the rigid body remain constant with time .

 Translational equilibrium
The resultant of all the external forces acting on the body must be zero, i.e.
the body is at rest or moving with constant velocity in a particular direction.
⃗ = ⃗ =

a) Stable Equilibrium: If a body regain its eqlm position after being slightly displaced
and released is called stable equilibrium. For ex: A table lying on the ground.

b) Unstable equilibrium: When a body gets disturbed further after being slightly
displaced and released is said to be unstable equilibrium.
For ex: A book standing on an edge.

c) Neutral equilibrium: If a body stays in equilibrium position even after being

slightly displaced and released, it is said to be neutral equilibrium.
For ex:  A ball rolling on the ground.

 Rotational Equilibrium
The resultant of torques due to all forces acting on the body about any point
must be zero.

15
 System of particles and rotational motion
= ⃗ =

Principle of Moments
According to the principle of moments a body will be in rotational
equilibrium if algebraic sum of the moments of all forces acting on the body, about a
fixed point is zero.
i.e the sum of the clockwise moments about any point is equal to the sum of
the anticlockwise moments about that point . R

For translational eq lm, d1 d2

A
Net F = O B
R – F1 – F2 = 0 O
 R = F1 + F2 F1 F2

For rotational eq lm, the algebraic sum of moment of forces about o must be zero.
F1 d1 – F2 d2 = 0
 F1 d1 = F2 d2

Centre of Gravity
The centre of gravity of a body is a point where the weight of the body acts and
total gravitational torque on the body is zero.

r⃗ × m g⃗ = 0

As, g ≠ 0.

, ⃗ =

Solved Examples
1. A car weighs 1800kg. The distance between its front and back axles is 1.8m. It
centre of gravity is 1.05m behind the front axle. Determine the force exerted by
the ground on each front wheel and each back wheel.
: − R + R = mg = 1800 × 9.8 − (1)
for rotational eq l
16
 System of particles and rotational motion
R × 1.05 = R (1.8 − 1.05)
R × 1.05 = R × 0.75
.
= = − (2)
.
Putting in eqn (1)
R + R = mg = 1800 × 9.8
5
or, R + R = 1800 × 9.8
7
1800 × 9.8 × 7
or R = = .
12
5 5
∴ R = R = × 10290 = .
7 7

2. A non- uniform bar of weight W is suspended at rest by two strings of negligible

weight as shown in fig. the angles made by the strings with the vertical are 36.9
and 53.1 respectively. The bar is 2m long. Calculate the distance ‘d’ of the
centre of gravity of the bar from its left end.
Ans:- For equilibrium,
T sin θ = T sin θ
T sin θ sin 53.1 0.74
= = =
T sin θ sin 36.9 0.54
T
∴ = 1.35
T
T cos θ × d = T cos θ (2 − d)
T cos 36.9 × d = T cos 53.1 (2 − d)
T × 0.83d = T × 0.67 (2 − d)
1.35 T × 0.83d = 0.67 T (2 − d)
1.12d = 1.34 − 0.67d
or 1.79d = 1.34
1.34
or, d = = . .
1.79

17
 System of particles and rotational motion
3. A metre stick is balanced on a knife edge at its centre. When two coins, each of
mass 5gm are put one on top of the other at the 12cm mark, the stick is found to
be balanced at 45cm. what is the mass of the metre stick?
Ans:- for equilibrium about C’
10g  (45-12) = mg (50-45)
10g  33 = mg 5
10 33
m = = .
5

4. A 3c m long ladder weighing 20kg leans on a frictionless wall. Its feet rest on the
floor 1m from the wall. Find the reaction forces of the wall and the floor
Ans:- BC = √3 − 1 = √8 = 2 √2m.
For translational equilibrium ,
N - w = 0 , F = F1
For rotational eq lm,

F × 2√2 − w × = 0
w w 196
F = = = = 34.6N.
2 × 2√2 4√2 4√2
 F = F = 34.6 N.

F = N + F = (196) + (34.6) = 199N.

N 196
 tan θ = = = 5.65
F 34.6
 θ = tan 5.65 ≃ .

5. A metal bar 70cm long and 4kg in mass is supported on two knife edges placed
10cm from each end . A 6kg weight is suspended at 30cm from one end. Find the
reactions at the knife edges. Assume the bar to be of uniform cross-section and
homogenous.
Ans:- for translational eqlm,
N + N = w + w = 6 + 4 = 10 − −(1)

18
 System of particles and rotational motion
m
For rotational eq l
−N × K o + w × CO + w × O + N × K O = 0
−N (35 − 10) + 6(35 − 30) + N (35 − 10) = 0
or, −25N + 25N + 30 = 0
or, 25(N − N ) = 30
30
N − N = = 1.2 − (2)
25
Adding eq. (1) and (2)
2N = 11.2
N = 5.6 × 9.8 = 54.88N.
or, N = 10 − N = 10 − 5.6 = 4.4 × 9.8 = . .

Equations of Rotational Motion

a) ω = ωO +  t
Suppose a rigid body is rotating abut a given axis with a uniform acceleration .
As we know,
dω
α =
dt
α dt = dω integreating both sides,
At t = 0, let ω = ω
α dt = d ω
and t = t, let ω = ω

or, α [t − o] = [ω − ω ]
∴ ω − ω = α t

= +

b) = +

dθ
Now, ω = ω dt = dθ
dt
Integrating both sides,

19
 System of particles and rotational motion

ωdt = dθ

or, (ω + α t) dt = dθ

or, ω dt + α t dt = dθ

α
or, ω [t − 0] + [t − 0] = [θ − 0]
2
1
or, ω t +  t = θ.
2

∴ = + 

c) − =
dθ dω dω dθ
ω = and α = = ×
dt dt dθ dt
dω dθ
or, α = × ω ∵ ω =
dθ dt
or, α dθ = ω dω
Integrating both side,

α dθ = ω dθ

1
or, α[θ − 0] = [ω − ω ]
2
So, − =

Solved Examples
1. A constant torque is acting on a wheel. If starting from rest, the wheel makes ‘n’
rotations in t seconds. Show that angular acceleration is given by :

= / .
1
: − θ = ω t +  t
2
20
 System of particles and rotational motion
1
2π n = 0 +  t [∵ θ = 2π n radian]
2

∴ = /
Proved.

2. An angular speed of a motor wheel is increased from 1200 rpm to 3120 rpm in 16
seconds.
a) What is the angular acceleration, assuming the acceleration to be uniform?
b) How many revolutions does the engine make during this time?
1200
: − ( ) ν = 1200 rpm = = 20 rps.
60
3120
ν = 3120 rpm = = 52 rps.
60
ω −ω 2π (ν − ν ) 2π (52 − 20)
So, α = = =
t t t
∴ α = 4π rad/ s
1
( ) θ = ω t +  t
2
1
θ = 2π ν t + × 4π × 16 × 16
2
1
θ = 2π 20 × 16 + × 4π × 16 × 16
2
θ = 640π + 512π = 1152π rad
∵ θ = 2π rad in one revol
θ 1152π
So, no. of revolutions = = = .
2π 2 π

3. A fly wheel rotating at 420 rpm slows down at a constant rate of 2 rad /s2. What
time is required to stop the fly wheel?
420
: − ν = 420 rpm = = 7 rps.
60
ω − ω = α t.
2π ν − 2 πν = α t
2π (ν − ν ) 2π (0 − 7)
or, t = =
α 2
22
∴ t = 7 × = .
7
21
 System of particles and rotational motion
4. The radius of a car wheel is 0.4m. The car is accelerated from rest by an angular
acceleration of 1.5rad/s2 for 20sec. How much distance the wheel covers in this
time interval and what will be its linear velocity?
1
: − θ = ω t +  t
2
1
θ = 0 + × 1.5 × 20 × 20 = 300 rad.
2
Distance covered by the wheel = rθ = 0.4 300 = 120m.
And, ω = ω +  t
rad
ω = 0 + 1.5 × 20 = 30 .
sec
So, linear velocity v = ω r = 30 × 0.4 = .

Moment of Inertia
A quantity that measures the inertia of rotational motion of the body is
called moment of inertia.
I = m r + m r + ⋯ ⋯ ⋯ + m r
∴ I = ∑ mr
It is scalar quantity, S.I unit  kg m2.
Moment of inertia shall depend upon:
a) Size of the body,
b) Shape of the body,
c) Orientation of the axis of rotation.
d) Distribution of mass of the axis of rotation

Physical Significance of moment of inertia

Mass of a body is a measure of inertia of the body in linear motion, and
moment of inertia is a measure of inertia of body in rotational motion. The moment of
inertia of a body plays the same role in the rotational motion as the mass plays in linear
motion.
22
 System of particles and rotational motion
That is why moment of inertia is called the rotational analogue of mass in
linear motion.
So, kinetic energy of rotation of body
1
k ∙ E = I ω
2
And kinetic energy of translation of the body,
1
k ∙ E = mv
2
So, another definition of moment of inertia of a rigid body about a
fixed axis is defined as the sum of the product of the masses of the particles of the
body and square of their respective distances from the axis of rotation.

Kinetic energy of rotation

Let the body consists of particles of masses m , m , m … … . . m at
perpendicular distances r , r , r … … … . . r respectively.
Now,
The angular velocity (ω) of all the particles is same.
So, K. E of all particles of the bodies.
1 1 1
= m ω r + m ω r + m ω r + ⋯ + m ω r
2 2 2
= (m r + m r + m r + ⋯ + m r )ω
1
= mr ω
2

∴ ∙ =

Torque and Moment of Inertia

Let the body consist of particles of masses m , m , m … … . . m at perpendicular
distances r , r , r … … … . . r respectively from the axis of rotation and rotating with a
uniform angular acceleration  under the action of a torque.
Moment of forces on the particles about the axis of rotation,
 = r × F + r × F + r × F + … … … . . r × F .
 = r × m a + r × m a + r × m a + ⋯ … … . . r × m a
23
 System of particles and rotational motion
 =m α r + m α r + m α r + ⋯ . m α r
Now, α
 = [ m r + m r + m r + ⋯ … … . +m r ] α

 = mr α

So, =

Angular Momentum and Moment of Inertia

Let the body consists of n particles of masses m , m , m … … . . m at
respective perpendicular distance from the axis of rotation is, r , r , r … … … . . r
respectively.
Now,
Angular momentum of all particles (L)
= r × P + r × P + r × P + … . r × P .
= r × m v + r × m v + r × m v + ⋯ r × m v
=( m r + m r + m r + ⋯ … … . +m r )ω

= mr ω

So, =

Now, Relation b/w torque and moment of inertia is,

L=Iω
Differentiating both terms w.r.t time.
dL d I ω dω
= =I
dt dt dt

∴ = =

24
 System of particles and rotational motion
Solved Examples
1. Show that moment of a couple does not depend upon the point which we take the
moments.
Ans:- Let us take the moment of the couple about the origin O.
Moment of couple = r⃗ × F⃗ + r⃗ × − F⃗ = (r⃗ − r⃗ ) × F⃗
Using triangle law,

OB⃗ + B A⃗ = OA⃗ ∙
B A⃗ = OA⃗ − OB⃗ = r⃗ − r⃗
∴ Moment of couple = B A⃗ × F⃗
So, this expression is indepent of location of the origin O.
2. Three mass points , , located at the vertices o an equilateral triangle
of a length a. what is the moment of inertia of the system about an axis along the
altitude of the triangle?

: − I = mr

a a
I = m × 0 + m × + m ×
2 2
a
∴ I = [m + m ]
4

3. A child stands at the centre of a turn table with his two arms outstretched. The
turn table is set rotating with an angular speed of 40 rpm.
(a) How much is the angular speed of the child if he fold his hands back reducing
the moment of inertia to (2/5) time the initial value? Assume that the turn table
rotates without friction.
(b) Show that the child’s new K.E of rotation is more than the initial K.E of
rotation. How do we account for this increase in K.E?
Ans:- No, torque acting on this process,
So, L = constant.
I ω = I ω
2 2
I × 40 = I ω ∵ I = I
5 5
5
ω = × 40 = 100 rpm.
2
25
 System of particles and rotational motion
(b) Final K.E of rotation (K.Ef) = 1/2 I ω and
Initial K.E of rotation (K.Ei) = 1/2 I ω
K. E I ω 5 I 100
= × = ×
K. E I ω 2 I 40
∴ K. E = 2.5 K. E .

4. Energy of 484J is spent in increasing the speed of a fly wheel from 60rpm to
360rpm. Find the moment of inertia of the wheel.
Ans:- ν1 = 60 rpm = 1 rps.
ν2 = 360 rpm = 6 rps.
1 1
Initial K ∙ E of rotation k ∙ E = I ω = I(2πν )
2 2
1 1
inal K ∙ E of rotation k ∙ E = I ω = I(2πν )
2 2
Increase in K.E of rotation of wheel = energy spent on the wheel.
k ∙ E − k ∙ E = 484
π I (72 − 2) = 484
× ×
∴ I = = . .
× ×

Radius of Gyration
The radius of gyration of a body about its axis of rotation may be defined
as the distance from axis of rotation at which, if the whole mass of the body were
concentrated, its moment of inertia about the given axis would be the same as which the
actual distribution f mass.
Suppose a rigid body consists of n particles each of mass m. let
r , r , r … … … . . r be the perpendicular distance from the axis of rotation. by defn.
I = mr + mr + mr + ⋯ … + mr
I = m ( r +r +r + ⋯…+ r )
⋯…
I=

26
 System of particles and rotational motion
If ‘k’ is the perpendicular distance from the axis of rotation where the whole mass
is concentrated. Then,
I = M k
r +r + r + ⋯…+ r
∴ M k = M
n

+ + + ⋯…+
∴ = = .

It is also defined as the root mean square distance of its particles from the axis
of rotation.

Solved Examples
1. Calculate radius of gyration of a cylindrical rod of mass m and length L about an
axis of rotation perpendicular to its length and passing through the centre.
Ans:- Moment of inertia of the rod about an axis perpendicular to its length and passing
through the centre is,
m L
I=
12
m L
I = M k =
12
L
∴ k = =
√12 √

2. Calculate the ratio of radii of gyration of a circular ring and a disc of the same
radius about the axis passing through its centres and perpendicular to their
planes.
Ans:- Let K1 and K2 be the radius of the gyration of ring and disc.
M. I of the ring = MR = MK
∴ k = R
1
M. I of the disc = MR = MK
2
R
∴ k =
√2

27
 System of particles and rotational motion
k R
so, = = √ ∶ .
k R
√2
Principle of Conservation of Angular Momentum
When, no external torque acts on a system of particles, then the total
angular momentum of the system remains constant.
dL
τ =
dt
dL
= 0
dt
So, L = constant.
I ω = constant
=
Now, angular velocity ‘ω’ of the body can be increased or decreased by decreasing
or increasing the moment of inertia of the body.

Some examples of conservation of angular momentum

 While falling a cat stretches its body along with its tail so that its moment of inertia (I)
increasing. As no external torque is acting. L= Iω = constant. Since, I increase ω
decreases the cat land gently on its feet.

 A driver jumping from a spring board exhibits somersaults in air before touching the
water surface after leaving the spring board , a driver curls his body by pulling his
arms and legs towards the centre of his body . This decreases his moment of inertia
and he spin fast in mid air . just before hitting the water surface , he stretches out his
arms . this decreases his moment of inertia and the driver enters the water gentl speed.

28
 System of particles and rotational motion
 The angular velocity of revolution of a planet around the sun in an elliptical orbit
increases when the planet closer to the sun because its moment of inertia decreases.
As L= Iω= constant. The reverse is also true.

 A circus acrobat performs feats involving spin by bringing her arms and legs closer to
her body or vice-versa. On fringing the arms and legs closer to the body, her moment
of inertia I decreases hence her angular velocity ‘ω’ increases and vice-versa.

 An ice – skater or a ballet dancer can increase her angular velocity ω by folding her
arms and bringing the stretched leg closer to the other leg , when she stretches her
hands and a leg outward , her moment of inertia increases and angular speed
decreases to conserve angular momentum . when she folds her arms and brings the
stretched leg close to the other leg her moment of inertia decreases and angular
speed increases .

Moment of inertia increases, Moment of inertia decreases,

Angular speed decreases Angular speed increases

Solved Examples
1. Show that the angular momentum about any point of a single particle moving
with constant velocity remains constant through the motion.
Ans:- Suppose the particle moving with velocity v⃗ is at P. the angular momentum,
L⃗ = r⃗ × p ⃗ = r⃗ × m v⃗
L = m v r sin θ

Now, r sin θ = OK = perpendicular distance of O from the line of motion of particle. As

position of particle changes, r and θ both change but r sin θ remains constant.
So, L = m v r sin θ = mv (OK) = constant. And the direction of L ⃗is  r⃗and v⃗ directly in
ward which also doesnot change.
29
 System of particles and rotational motion
2. If angular momentum is conserved in a system whose moment of inertia is
decreased, will its rotational K.E be also conserved? Explain.
Ans:- L = I ω = constant
K. E of rotation K ∙ E = I ω
1 L
K ∙ E = I ω =
2I 2I
As L is constant
So, K ∙ E ∞
Then, I decreases K.E increases, Thus K.E of rotation is not conserved.

Theorems on Moment of Inertia

a) Theorem of perpendicular Axes
The moment of inertia of a plane Lamina about an axis perpendicular to its plane is
equal to the sum of the moments of inertia of the lamina about any two mutually
perpendicular axes in its own plane and intersecting each other at the point where
the perpendicular axis through the Lamina. = + .
Consider one such particle of mass m situated at point P(x,y) now, from fig.
= +
Moment of inertia of the particle about X – axis.
= my .
 Moment of inertia of whole lamina about X – axis is,
I = m y − − − −(1)

Moment of inertia of whole lamina about Y – axis is,

I = m x − − − −(2)

Again Moment of inertia of whole lamina about Z – axis

is,

I = m r = m (y + x )

= m y + m x

So,

= +
30
 System of particles and rotational motion
b) Theorem of parallel axes
The moment of inertia of a body about any axis is equal to the moment
of inertia about a parallel axis is through its centre of mass plus the product of the
mass of the body and the square of the perpendicular distance between the two
parallel axes.
= +
Consider a particle P of mass m at distance x from RS and so at distance (x+b) from PQ.
So, moment of inertia of the whole body about the axis PQ is,
I = ∑ m (x + b) = ∑ m(x + b + 2xb)
I = ∑ mx + ∑ m b + ∑ m 2x b P R
Now,
I =I + Mb + 2b m x ∵ I = mx
∴ I = I + Mb + 2b × 0 [∵ ∑ mx = 0 ]
b x
Since, a body can balance itself about its centre of
mass, so,the algebraic sum of moments
(∑ m x) of masses all particles is zero.
∴ = + Q S

Moment of Inertia of a thin Circular Ring

Suppose M is the mass of a thin circular ring or radius R with centre O. we
have to calculate:
a) Moment of inertia of a ring about an axis through its centre and
perpendicular to its plane:
Mass per unit length of the ring.
M
=
2 π R
moment of inertia of this element about YoY ′
M MR
= dx R = dx.
2 π R 2π
Now moment of inertia of the whole ring about the axis YoY’

MR MR
I = dx = [2π R − O]
2π 2π

So, =

31
 System of particles and rotational motion
b) Moment of inertia of a ring about any diameter:
According to the theorem of perpendicular axes.
I + I = MR (I )
I + I = MR
∴ =

c) Moment of inertia of a ring about a tangent in its plane.

According to the theorem of parallel axes.
I = I + MR
1 3
I = MR + MR = MR
2 2

∴ =

d) Moment of inertia of a ring about a tangent perpendicular to its plane.:

Applying the theorem of parallel axis.
I = I + MR
= MR + MR
∴ =

Moment of inertia of some bodies of regular shape

a) Uniform rod of length L perpendicular to rod through its centre
1
 M L
2
b) Uniform circular disc of radius R, perpendicular to its plane and through the
centre
1
 M R
2
c) Uniform circular disc of radius R about its diameter
1
 M R
4
d) Uniform circular ring of radius R and perpendicular to its plane and through the
centre
 MR

32
 System of particles and rotational motion

e) Uniform circular ring of radius R about its diameter

1
 M R
2
f) Hollow cylinder of radius R about its axis of cylinder
 MR
g) Solid cylinder of radius R about its axis of cylinder
1
 M R
2
h) Hollow sphere of radius R about its diameter
2
 M R
3
i) Solid sphere of radius R about its diameter
2
 M R
5

j) Uniform rectangular lamina of length l and breadth b and perpendicular to

lamina and through its centre.
l + b
 M
12

Solved Examples
1. What is the moment of inertia of a rod of mass M, length l about an axis
perpendicular to it passing through one of its ends?
Ans:- Moment of inertia about an axis
AB, I =M

M M M
= + =
12 4 3
M
∴ I =
3
2. A solid cylinder of mass 20kg rotates about its axis with angular speed 100
rad/s-1. The radius of the cylinder is 0.25m. What is the K.E associated with the
rotation of the cylinder? What is the magnitude of angular momentum of the
cylinder about its axis?

Ans:- Moment of inertia of solid cylinder =
33
 System of particles and rotational motion
20 × (0.25)
I = = 0.625 kg m .
2
1 1
∴ K ∙ E = Iω = × 0.625 × 100 × 100
2 2
∴ K ∙ E = .
And angular momentum L = I ω = 0.625  100
 L = 62.5 J.sec

3. orques of equal magnitude are applied to hollow cylinder and a solid sphere,
both having the same mass and some radius. The cylinder is free to rotate about
its standard axis of symmetry and the sphere is free to rotate about an axis
passing through the centre. Which of the two will acquire a greater angular
speed after a given time?
Ans:- I = moment of inertia of cylinder = MR and
2
I = moment of inertia of sphere = MR
5
τorque, I α = I α
α I 2 MR 2
∴ = = =
α I 5 MR 5
Now, α < α
from ω = ω + αt
, <

4. Two circular discs A and B of the same mass and same thickness are made of two
different metals whose densities are dA and dB (dA > dB). Their moment of inertia
about the axis passing through their centre of gravity and perpendicular to their
planes are IA and IB. which is greater IA or IB? a;ready solved or new
Ans:- m = m = m
m = (a × t) × d = m (a × t) d
= π r × t × d = π r × t × d

So, = , I = m r , and IB = m r

= ∵ d > d ∴ > .
34
 System of particles and rotational motion
5. A cord of negligible mass is wound round the rim of a fly wheel of mass 20kg and
radius 20cm. a steady pull of 25N is mounted on a horizontal axle with
frictionless bearings.
a) Compute the angular acceleration of the wheel.
b) Find the work done by the pull, when 2m of the cord is unwound.
c) Find also the K.E of the wheel at this point. Assume that the wheel starts from
rest.
d) Compare answers to part (b) and (c).
1
: −( ) τ = I α = Mr × α
2
τ r × F 25 × 2
α = = = = . /
I 1 1
Mr 20 ×
2 5
(b) Work done w = F  x = 25 2 = 50J.

1
( ) K ∙ E = I ω
2
,
ω − =
2
25 25 1
ω = 2 × × = 2 × ×
2 2 5
rad
ω = 250
s
1
K ∙ E = Mr × 250
2
1 20 1
K ∙ E = × × 250 = .
2 2 25
(d) K.E gained by the wheel = work done by the force.

6. What is the moment of inertia of a ring about a tangent to the circle in the plane
of the ring?
1
: − I = MR
2
By theorem of parallel axes,
I = I + MR
1 3
= MR + MR = MR
2 2

35
 System of particles and rotational motion
Some conceptual questions based on
Moment of Inertia and conservation of angular momentum

1. How will be distinguish b/w a hard boiled egg and a row egg by spinning each on
a table top?
Ans:- If we spin raw egg and boiled egg. The raw egg will spin at a slower rate because,
the liquid matter inside tries to get away from the axis of rotation. Therefore its moment
of inertia increases. As  = I  = constant. Therefore I ∞ So, α decreases and ω
decreases of the raw egg. The reverse is true with boiled egg.

2. Explain why the sped of the whirl wind in a tornado is alarmingly high?
Ans:- In a whirl wind, air from nearby regions get concentrated in a small space. Moment
of inertia decreases. As L= Iω = constant therefore I  and ω increases to alarmingly
high.

3. What will be duration of the day? If earth suddenly shrinks to 1/64th of its
original volume, mass remaining unchanged?
1
: − V = V
64
4 1 4
πR = πR
3 64 3
1 1
R = R ∴ R = R
4 4
As no external torque, L = Iω = constant.
I ω = I ω
2 2π 2 2π
MR × = MR ×
5 T 5 T
R R R 1 24
= or, T = × T = × 24 =
T T R 4 16
∴ T = . .
4. If the ice on the polar caps of the earth melts, how will it affect the duration of
the day?
Ans:- The earth rotates about its polar axis. When ice of polar caps of earth melts, mass
concentrated near the axis of rotation spreads out. Therefore its moment of inertia
36
 System of particles and rotational motion
increases. As no external torque acts on it. So, L= I ω = constant and I ∞ , ω

decreases. Therefore T. will increases = .

5. Why there are two propellers in a helicopter?

Ans:- If the helicopter had only one propeller, then due to conservation of angular
momentum, the helicopter itself would turn in the opposite direction.

6. The moment of inertia of two rotating bodies A and B are IA and IB (IA > IB) and
their angular momentum are equal. Which one has greater K.E?
1 L
: − As L = I ω and K. E = Iω =
2 2I
when L is constant.
1
So, K. E α
I
If IA > IB then K.EB > K.EA.

 The moment of inertia of a solid sphere about a tangent to the sphere.

= 2/5 MR2+ MR2 = 7/5 MR2.
 The moment f inertia of a hollow sphere about any tangent = 5/3 MR2.

37
 System of particles and rotational motion
Rolling Motion
Rolling motion can be regarded as the combination of pure rotation and
pure translation.

The disc rotates with angular velocity ω about its symmetry axis through C. the
linear velocity of a particle P2 at a distance r from the axis due to rotational motion is v r =
r ω. the condition for rolling the disc without slipping is VCM = R ω.

Kinetic Energy of Rolling Motion

K.E of Rolling motion K.E of translational motion of centre of mass + K.E of
rotational motion of centre of mass.
k ∙ E = k ∙ E + k ∙ E
So,
k ∙ E = mv + I ω
∵ V = ωR
= mv + m K
ω =
Where I = m K , k is radius of gyration of the body.

∴ ∙ = +

Motion of a solid cylinder rolling without slipping on an inclined

plane
Consider a solid cylinder of mass m and radius r rolling down an inclined plane of
angle θ, without slipping.
From fig.
N = mg cos θ ----------(1)
And mg sin θ – f = ma --------(2)
38
 System of particles and rotational motion
 orque acting on the rolling cylinder is only due to the force of friction.
 = f  r ------------(3)
If I is the moment of inertia of solid cylinder.
And  is angular accln then,
a
 = I  = I [∵ a = α r] − (4)
r
From eq. (3) and (4)
f r = I
Ia
∴ f = − − − −(5)
r
Putting in eq (2) mg sin θ – f = ma.
mg sin θ - = ma
So,

=
+

 Acceleration of the solid cylinder is,

mg sin θ
A = = .
mr
m+
2r

Solved Examples
1. Three bodies a ring, solid cylinder and a solid sphere rolls down the same
inclined plane without slipping. They start from rest. The radii of the bodies are
identical. Which of the bodies reached the ground with maxm velocity?
mg sin θ 1
: − acceleration of ring a = = g sin θ.
mr 2
m+
r
mg sin θ 2
acceleration of solid cylinder a = = g sin θ.
1 mr 3
m+
2 r
mg sin θ 5
acceleration of solid sphere, a = = g sin θ.
2mr 7
m+
5r
39
 System of particles and rotational motion
So, a = 0.5g sin θ, a = 0.65 g sin θ. and a = 0.71 g sin θ.
> >

2. A solid cylinder rolls up and inclined plane of angle of inclination 30 . At the
bottom of the inclined plane the centre of mass of the cylinder has a speed of
5m/sec.
a) How far will the cylinder go up the plane?
b) How long will it take to return to the bottom?
Ans:- Let the cylinder go up to the plane at height h.
1 1
( ) mV + Iω = mgh
2 2
1 1 mr
or, mV + ∙ ω = mgh
2 2 2
1 1 V
, V + r = gh
2 4 r
3V 3×5
or, h = = = . .
4 g 4 × 10
If d is the distance up the inclined plane,
h
sin θ =
d
h 1.9
d = = ≃ .
sin θ. sin 30
(b) Time taken to return the bottom, since,
1
S = ut + at
2
I
2d 2d m +
∴ t = = r
a mg sin θ.
m r
m + 4 × 3 × 2
2 r
t = 2 × 2 × =
mg sin 30. 2 × 10

3
t = 2 = . .
10

40
 System of particles and rotational motion
3. A solid spheres rolls down two different inclined planes of the same heights but
different angles of inclination. Will it reach the bottom with the same speed in
each case? Will it take longer to roll down one plane than the other? If so which
one and why?
1 1
Ans; − mV + Iω = mgh
2 2
1 12 V
or, mV + mr = mgh
2 25 r
1 1
or, V + V = gh
2 5
10
V = gh
7
As h is same in two cases then, V will be same. And,
Time to reach the bottom with same speed,
∞
.
So, smaller inclination will take longer time.

41