COLLEGE OF ARTS AND SCIENCES

Department of Mathematics and Physics

Hand-out on Rotational Dynamics

Torque Tendency of an object to twist, turn or rotate

Represented by tau, τ
Torque of a force has a magnitude given by the magnitude of F of the force
times the lever arm
Lever Arm – distance l between the line of action and the axis of rotation,
measured on the line that is perpendicular to both.
Line of Action – is an extended line drawn colinear with the force
τ = 𝐹𝑥𝑙 = 𝐹𝑙𝑠𝑖𝑛θ Where
F= force
l = lever arm
θ = the angle between force and
lever arm
+ torque if the force tends to produce a counterclockwise rotation about the
axis
- torque if the force tends to produce a clockwise rotation about the axis
SI Unit: Netwon-meter (Nm)
Example:
1. Different Lever Arms, Different Torques
A force whose magnitude is 55 N is applied perpendicular to a door. However,
the lever arms are different in the three part (a) l = 0.80 m, (b) l = 0.60 m, (c) l =
0 m. Find the magnitude of the torque in each case.
Solution:
In each case, the lever arm is the prpendicular distance between the axis of
rotation and the line of action of the force.
(a) τ = Fl = (55N)(0.80 m) = 44 Nm
(b) τ = Fl = (55N)(0.60 m) = 33 Nm
(c) τ = Fl = (55N)(0 m) = 0 Nm
In (c) the line of action F passes through the axis of rotation or hige. Hence the
lever arm is 0, and the torque is zero.
2. Achilles Tendon
Figure on the right shows the ankle joint and the Achilles tendon attached to
the heel at point P. The tendon exerts a force of magnitude F = 720 N.
Determine the torque of this force about the ankle joint, which is located 3.6
x10-2 m away from point P.
Solution:
To calculate the magnitude of torque, it is necessary to have a value for the
lever arm l. It is important to realize that the lever arm is not the given distance
3.6 x 10-2 m. Instead the lever arm is the perpendicular distance between the
axis of rotation at the ankle joint and the line of action of F. The dashed red
line indicates the distance.
𝑙 = (3.6𝑥10−2 𝑚)cos55 = 2.1𝑥10−2 𝑚
τ = 𝐹𝑙 = (720𝑁)(2.1𝑥10−2 𝑚) = 15𝑁𝑚
Answer: The force F tends to produce a clockwise rotation about the ankle
joint, so the torque is negative: -15 Nm
Rigid Objects in First Condition for Equilibrium (Translational) : ΣFx = 0 and ΣFy = 0 since a = 0
Equilibrium When calculating net force, only external forces are included, that is those
force applied to the object by external agents.
Internal forces can be ignored because they occur in action-reaction pairs,
which have no effect as far as the motion of the entire object is concerned.
Second condition for Equilibrium (Rotational) : Σ τ = 0

Rotational Dynamics | Prepared by MROBalmeo

A net external torque causes rotational motion to change. But there is no
change in the motion of a rigid bdy in equilibrium, so there can be no net
torque.
Applying the Conditions of Equilibrium to a rigid body
1. Select the object to which the conditions for equilibrium are to be applied.
2. Draw a free-body diagram that shows all the external forces acting on the
object, each force with its proper direction.
3. Choose a set of convenient set of x, y axes and resolve all forces into
components that lie along these axes.
4. Apply the conditions that specify the balance of forces at equilibrium.
5. Select convenient axis of rotation.
6. Solve the equations in 4 and 5 for the desired unknownn quantities.

Example
3. Diving Board
A woman whose weight is 530 N is poised at the right end of a diving board,
whose length is 3.90 m. The board has negligible weight and is bolted down
at the left end, while being supported 1.40 m away by a fulcrum. Find the
forces F1 and F2 that the bolt and fulcrum, respectively, exert on the board.
Solution:
Three forces act on the board: The force due to woman's weigh, F 1 and F2
F1 points downward because the bolt must pull in the direction to counteract
the tendency of the board to rotate clockwise about the fulcrum.
F2 points upward because the board pushes downward against the fulcrum.
Since the board is in equilibrium,
Σ𝐹𝑦 = −𝐹1 + 𝐹2 − 530𝑁 = 0
Similary, sum of torques is 0. We select the left end of the board is wehre the
axis of rotation passes. Στ = +𝐹2 𝑙2 − 𝑊𝑙𝑤 = +𝐹2 (1.40𝑚) −
(530𝑁)(3.90𝑚) = 0
𝐹2 = 1480𝑁
𝐹1 = 𝐹2 − 530𝑁 = 1480𝑁 − 530𝑁 = 950𝑁
Answer: The forces that the bolt and fulcrum exert on the board are 1480 N
and 950 N, respectively.
4. Fighting a Fire
An 8.00-m ladder of weight WL= 355 N leans 50° against a smooth vertical wall.
The term "smooth" means that the wall can exert only a normal force directed
perpendicular to the wall and cannot exert a frictional force directed parallel
to it. A firefighter, whose weight is WF=875 N, stands 6.30 m from the bottom of
the ladder. Assume that the weight of the ladder acts at the ladder's center
and neglect the weight of the hose. Find the forces that the wall and the
ground on the ladder exert on the ladder.
Solution:
he following forces are exerted on the ladder:
1. It weight WL
2. Weight of the firefighter Wf
3. Force P applied by the wall on the ladder
4. Gx and Gy which are the components of the force exerted by the ground
on the ladder.
Since the ladder is in equilibrium, the net force acting on the ladder is 0:
Σ𝐹𝑥 = 𝐺𝑥 − 𝑃 = 0or𝐺𝑥 = 𝑝(1)
Σ𝐹𝑦 = 𝐺𝑦 − 𝑊𝑓 − 𝑊𝐿 = 0or𝐺𝑥 = 𝑊𝐿 + 𝑊𝑓 = 1230𝑁
Eq. 1 cannot be solved because there are 2 unknowns so I used the equation
for the summation of torques which is equal to 0 since the object is in
equilibrium. I set the axis of rotation to be at the bottom of the ladder so that

Rotational Dynamics | Prepared by MROBalmeo

 G does not produce torque on the ladder.
Στ = −𝑊𝑙𝐿 − 𝑊𝑓 𝑙𝑓 − 𝑃𝑙𝑃 = 0
Στ = −(355𝑁)(4.00𝑚cos50) − (875𝑁)(6.30𝑚cos50) + 𝑃(8.00𝑚sin50)
= 0𝑃(8.00𝑚sin50)
= (355𝑁)(4.00𝑚cos50)(875𝑁)(6.30𝑚cos50)or𝑃 = 727𝑁
So Gx = 727 N.
Note: The location of the axis is completely arbitrary, because if an equilibrium,
it is in equilibrium with respect to any axis whatsoever.
Center of Gravity is the point at which its weight can be considered to act when calculating the
torque due to the weight.
𝑊1 𝑥1 + 𝑊2 𝑥2 +. . . Coordinates of center of gravity
𝑥𝑐𝑔 =
𝑊1 + 𝑊2 +. . .
𝑊1 𝑥1 + 𝑊2 𝑥2 +. . .
𝑥𝑐𝑔 =
𝑊1 + 𝑊2 +. . .
𝑊1 𝑧1 + 𝑊2 𝑧2 +. . .
𝑧𝑐𝑔 =
𝑊1 + 𝑊2 +. . .
Example
5. The horizontal arm illustrated below is
composed of three parts: the upper arm (weight
W1 = 17 N), the lower arm (weight W2 = 11 N), and
the hand (weight W3 = 4.2 N). The drawing shows
the center of gravity of each part, measured with
respect to the shoulder joint. Find the center of
gravity of the entire arm, relative to the shoulder
joint.

Solution:
(17𝑁)(0.13𝑚) + (11𝑁)(0.38𝑚) + (4.2𝑁)(0.61𝑚)
𝑥𝑐𝑔 = = 0.28𝑚
17𝑁 + 11𝑁 + 4.2𝑁
Newton's second law 𝐹𝑇 = 𝑚𝑎𝑇 Consider an objoect moving on a
for rotational motion circular path. A tangential force
about a fixed axis (perpendicular to the axis of rotation)
gives a tangential acceleration to the
(Non-equilbrium) object where
τ = 𝐹𝑇 𝑟 The torque that the tangential force
τ = 𝑚𝑎𝑇 𝑟 produces where
r = the radius of the circular path
aT = rα = the angular acceleration
τ = 𝑚𝑟 2 α = 𝐼α I = moment of Inertia
Στ = (Σ𝑚𝑟 2 )α
Moment of Inertia Resistance of the object to angular acceleration
Moment of inertia depends on where the axis is.
Moments of inertia for various Rigid Objects:

Rotational Dynamics | Prepared by MROBalmeo

Smart Q-time: Archers can shoot with amazing accuracy, especially using
modern bows with bow stabilizer, a long thin rod that extends from the front of
the bow and has a relatively massive cylinder at the tip. Is there any truth to
advertisments claim that the stabilizer helps to steady the archer's aim?

Answer: Any angular acceleration about the axis (passing through archer's
shoulder) will lead to rotation of the bow and degrade the archer's aim. The
acceleration will created by any unbalanced torques that occur while the
archer's tensed muscle try to hold the drawn bow. So to keep the angular
acceleration small for a given torque and less disturbance of the aim, moment
of inertia must be increased which is the role of the added stabilizer. Massive
(large m) cylinder placed far (larger r) from axis of rotation is effective in
increasing MOI.
Example
6. Hoisting a crate. A crate that weighs 4420 N is being lifted by the
mechanism. The two cables are wrapped around their respective pulleys,
which have radii of 0.600 m and 0.200 m. The pulleys are fastened together to
form a "dual" pulley and turn as a single unit about the center axle, relative to
which the combined moment of inertia is I = 50.0 kgm 2. If a tension of
magnitude T1=2150 N is maintained in the cable attached to the motor, find
the angular acceleration of the "dual" pulley and the tension in the cable
connected to the crate.

Rotational Dynamics | Prepared by MROBalmeo

 Solution:
The forces acting on the pulley are:
1. T1 = tension in the cable connected to the motor
2. T2 = tension in the cable connected to the crate
3. P = reaction force exerted by the axle on the dual pulley
We set the axis passing directly through the axle which makes the lever arm of
P zero (parallel to axis).
Στ = 𝑇1𝑙1 − 𝑇2 𝑙2 = 𝐼α
(2150𝑁)(0.600𝑚) − 𝑇2 (0.200𝑚) = 𝐼α
(2150𝑁)(0.600𝑚) − 𝑇2 (0.200𝑚)
=α
50.0𝑘𝑔𝑚2
From the upward translational motion of the crate,
Σ𝐹𝑦 = 𝑇2 − 4420𝑁 = 𝑚𝑎𝑦
𝑇2 = 4420𝑁 + 𝑚𝑎𝑦 = 4420𝑁 + (451𝑘𝑔)𝑎𝑦
ay=rα=(0.200m)α
𝑇2 = 4420𝑁 + (451𝑘𝑔)(0.200𝑚)α
(2150𝑁)(0.600𝑚) − 𝑇2(0.200𝑚)
𝑇2 = 4420𝑁 + (451𝑘𝑔)(0.200𝑚)[ ]
50.0𝑘𝑔𝑚2
𝑇2 = 4420𝑁 + 2327.16𝑁 − (0.3608)𝑇2
𝑇2 + (0.3608)𝑡2 = 4420𝑁 + 2327.16𝑁
𝑇2 = 4960𝑁
Solving for angular acceleration:
(2150𝑁)(0.600𝑚) − (4958.23𝑁)(0.200𝑚)
α= = 5.97 𝑟𝑎𝑑 ⁄𝑠 2
50.0𝑘𝑔𝑚2
Answer: The tension on the rope that is attached to the load is approximately
4960 N (larger than the tension produced on the rope attached to the motor)
and the pulley rotates at 5.97 rad/s2.
Rotational Work 𝑊 = τθ Rotational work
SI Unit: Joule [J]
Derivation:
𝑠 Where
θ= s = arc length
𝑟

Rotational Dynamics | Prepared by MROBalmeo

 r = radius
𝑊 = 𝐹𝑠 = 𝐹𝑟θ = τθ τ = torque
The force does work in rotating the wheel
through the angle θ.

Rotational Kinetic 1 2 Rotational Kinetic Energy

Energy 𝐾𝐸𝑅 = 𝐼ω Where
2
I = moment of Inertia
ω = angular velocity
SI unit: Joule [J]
1 1 Total Kinetic Energy
𝐾𝐸𝑡𝑜𝑡𝑎𝑙 = 𝑚𝑣 2 + 𝐼ω2 When a bicycle coasts down a hil, for
2 2
example, its tires are both translating and
rotating. To use the conservation of principle
for a rolling tire, we only need to recognize
that the total kinetic energy is the sum of its
translational and rotational kinetic energies.
Example
7. Rolling Cylinders. A thin-walled hollow cylinder and a solid cylinder start from
rest at the top of an incline. Both cylinders start at the same vertical height, h.
All heights are measured relative to an arbitrarily chosen zero level that passes
through the center of mass of a cylinder when it is at the bottom of the incline.
Neglecting any energy losses due to retarding forces, determine which
cylinder has the greatest translational speed upon reaching the bottom of the
incline
Solution:
Only the conservative force of gravity does work on the cylinders, so the total
mechanical energy is conserved as they roll down the incline.
1 1
𝑚𝑣 2 + 𝐼ω2 + 𝑚𝑔ℎ
𝐸=
2 2
1 1 1 1
𝑚𝑣𝑖2 + 𝐼ω2𝑖 + 𝑚𝑔ℎ𝑖 = 𝑚𝑣𝑓2 + 𝐼ω𝑓2 + 𝑚𝑔ℎ𝑓
2 2 2 2
1 2 1 2
𝑚𝑔ℎ𝑖 = 2 𝑚𝑣𝑓 + 2 𝐼ω𝑓 since hf = 0 at the bottom of the incline
Since the cylinder is not slipping as it rolls, its final angular velocity and final
translational speed of its center of mass are related and given by:
𝑣
ω=𝑟
Substituting the previous equation to conservation equation:

2𝑚𝑔ℎ
𝑣𝑓 = √
𝑚 + 𝐼 ⁄𝑟 2
Hollow Cylinder:
2𝑚𝑔ℎ
𝑣𝑓 = √ = √2𝑔ℎ
𝑚 + (𝑚𝑟 2 )⁄𝑟 2
Solid Cylinder:

Rotational Dynamics | Prepared by MROBalmeo

 2𝑚𝑔ℎ 4𝑔ℎ
𝑣𝑓 = √ =√ = 1.15√𝑔ℎ
1 2 2 3
𝑚 + (2 𝑚𝑟 )⁄𝑟
Answer: The solid cylinder, having the greater translational speed, arrives at
the bottom first.

Angular Momentum 𝐿 = 𝐼ω Angular Momentum

I = moment of inertia
ω = angular velocity
SI unit: kgm/s
Principle of Conservation of Angular Momentum
The total angular momentum of a system remains constant if the net external
torque acting on the system is zero.
Analogies between Physical Concept Rotational Translational
Rotational and
Translational Displacement θ s
Concepts Velocity ω v
Acceleration α a
The cause of acceleration τ F
Inertia I m
Newton's Second Law Στ = Iα ΣF = ma
Work τθ Fs
Kinetic Energy (1/2)Iω2 (1/2)mv2
Momentum L = Iω p = mv

Prepared by: Approved by:

Mary Rose O. Balmeo Eduard C. Taganap, Ph.D

Instructor Department Chair

Rotational Dynamics | Prepared by MROBalmeo