/fJ,niKaksha

For JEE (Main & Advanced)

.
.._

•1
J(t ~:f\' l\
··•. •
. ' ':+:•

• Mathematical Tools
. • Unit and Dimension
• Vectors
• Kinematics
• Newton's Laws of Motion
• Work Power and Energy
• Center of Mass
• Rotation
I ROTATION
I
1. RIGID BODY

A particle means mass with negligible volume. A rigid body is made up of too many particles
but distance between any two particles is always constant.

2. PLANE MOTION OF A RIGID BODY

TRANSLATIONAL: lfa body moves such that its orientation does not change with respect to
time then body is said to move in translational motion. In translational motion of the rigid body
all particles of the rigid body have same linear displacement, same linear velocity and same
linear acceleration.

PURE ROTATIONAL MOTION: !fall particles ofa rigid body are moving in circular paths
in parallel planes the motion is called pure rotational motion, and the line joining the centres of
the circles is called the axis ofrotation.
COMBINED MOTION: When the plane motion of a rigid body is neither translational nor
pure rotational motion, it is called combine motion. Combined motion can be assumed to be
superposition of pure rotational and pure translational motion.

3. MOMENT OF INERTIA
Like the centre of mass, the moment of inertia is a property of an object that is related to its
mass distribution. Moment of inertia gives a measurement of the resistance of a body to a
change in its rotational motion. If a body is at rest, the larger the moment of inertia of a body,
the more difficult it is to put that body into rotational niotion. Similarly, the larger the moment
of inertia of a body, the more difficult it is to stop its rotational motion. The moment of inertia
is calculated about some axis (usually the rotational axis) and it depends on the mass as well as
its distribution about that axis.

3.1 MOMENT OF INERTIA OF A SINGLE PARTICLE:

For a very simple case the moment of inertia of a single particle about
an axis is given by, I= mr 2 Here, mis the mass of the particle and r
its distance from the axis under consideration.

3.2 MOMENT OF INERTIA OF A SYSTEM OF PARTICLES

The moment of inertia ofa syste~ of particles about an axis is given by:
Where ri is the perpendicular distance from the axis to
the ith particle, which has a mass m,.
I= Lm,r/

DON'T STOP UNTIL YOU'RE DONE WITH THE TASK...

/'(' X/-PM/-301 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;a;;;;;;;;;;;;;;;;;;a;;;;;;;;;; ROTATION

4. MOMENT OF INERTIA OF RIGID BODIES

For a continuous mass distribution such as found in a rigid body,
we replace the summation of Eq. (ii) by an integral. If the system
is divided into infinitesimal elements of mass dm and if r is the
distance from a mass element to the axis of rotation, the moment
of inertia is,

I= f r 2 dm

where the integral is taken over the system.

5. THEOREMS ON MOMENT OF INERTIA

There are two important theorems on the moment of inertia, winch, in some cases, enable the
moment of inertia of a body to be determined about any general axis, if its moment of inertia
about some other axis is known. Let us now discuss both of them.

5.1 THEOREM OF PARALLEL AXES

A very useful theorem, called the parallel axes theorem relates the
moment of inertia of a rigid body about two parallel axes, one of
which passes through the centre of mass.
Two such axes are shown in figure for a body of mass M. If r is the
distance between the axes and fcoM and / are the respective
moments of inertia about them then, these two are related by,/ lcoM = + Mr 2
5.2 THEOREM OF PERPENDICULAR AXES
This theorem is applicable only to the plane bodies (two 'y
dimensional). The theorem states that the moment of inertia of
a plane lamina about an axis perpendicular to the plane of the
lamina is equal to ,the sum of the moments of m.ertia of the
lamina about two axes perpendicular to each other, in its own .
plane and intersecting each other, at the point where the
perpendicular axis passes through it. Let x and y axes be
chosen in the plane of the body and z-axis perpendicular, to
this plane, three axes being mutually perpendicular, then the
theorem states that

Proof Consider an arbitrary particle P of mass mi, distant ri from O and xi and Yi are the
perpendicular distances of point P from the x and y-axes respectively, we have

fz = L l
m1rl,Ix = L i
m,yf and ly = L i
m!xf

OON7 STOP.UNTIL YOU'RE DONE WITH THE TASK...

 So that,

Ix+ ly = L miyl+ L m1xf

L m1(Yl +xn I
i i

= = mir? = lz
i i
i.e. lz = Ix+ ly

Illustration-1
Three particles of masses 1 g,2 g and 3 g are kept at points (2 cm,0),(0,6 cm),(4 cm,3 cm).
Find moment of inertia of all three particles (in gm- cm 2 ) about, ( a )x - axis (b)y- axis(c)
z-axis
Solution:
(a) About x-axis
Ix = 11 + 12 + /3
= m1 r{ + m 2 r} + m 3 rf
Here r = perpendicular distance of the particle from x-axis
. /1 = (1)(0) 2 + (2)(6) 2 + (3)(3) 2 = 99 g - cm 2
'y

i..-2 •cm+1
I+-- 4'Om ---+I

(b) About y-axis

ly = m 1 r12 + m 2 r 22 + m 3 r 32
Here, r =perpendicular distance of the particle from y-axis
Iy (1)(2) 2 + (2)(0)
.
2
+ (3)(4) 2 = 52 g - cm 2

(c) About z-axis

lz = m 1 r12 + m 2 r 22 + m 3 r 32

Here, r = perpendicular distance of the particle from z-axis.

r0 =J(3) 2 +(4) 2 =5cm
fz = (1)(2) 2 + (2)(6) 2 + 3(5) 2 = 151 g - cm
2

DON7 STOP UNTIL YOU'RE DONE WITH THE TASK...

 ROTATION
If' XI-PM/-303

6. MOMENT OF INERTIA OF REGULAR BODIES

Annular cylinder
is
r ring) abOUt
oop about linder axis
nder axis

~ 1 = !f ( Ri+ RP
I - MR 2

Axis AJt:
Solid cylinder
olid cylinder (or disk) abOUI
r disk) about central diameter
cylinder axis

I= MR'
/=M:'+'::
2

Thin rod about

Thin rod about
axis through one
axis through end .1 to length
center l to
length
/= MP
I = .Ml!
12
3

is
Thin
Solid sphere spherical shell

. ;; !
R aboutany about any
( ]
diameter diameter

/= ~R' r - - -

Axis
Hoop about Slab about
.1 axis through
any diameter
center

= M:2
I= M(r+ If)
12

lllustration-2
Three rods each of mass m and length I are joined together to form an·equilateral triangle as shown
in figure. 'Find the moment of inertia of the system about an axis passing through its centre of mass
and perpendicular to the plane ofthe triangle.

DON'T STOP UNTIL YOU'RE DONE WITH THE TASK••.

Solution:
Moment of inertia o•
'J rod BC a bou t an axis
· perpendicular
· ·
to plane of triangle ABC and passing
through the mid-point ofrod BC (i.e. D) is
or

ml 2
12
r = BDtan30°
r = (½)(~) = 2~
From theorem ofparallel axes, moment of inertia of this rod about the asked axis is
A

_,,-::r
COM

B-'\~'3_0_0_~_ ____,c
D
2 2
ml ( l ) ml2
12 = /1 + mr2 = 12 + m 2.,/?, = 6

.-. Moment of inertia of all the three rods is

2 2
ml ) ml
/=3/2 =3 ( =
6 2

Illustration-3
Consider a uniform rod of mass m and length Zl with two particles of mass m each at its ends. Let
AB be a line perpendicular to the length of the rod and passing through its centre.Find the moment
of inertia of the system aboutAB.
Solution:
JAB = f,od + /both particles
= m(2l)2 + 2(ml2)
12
7
=-ml 2
3

m m

''
:a

DON'T STOP UNTIL YOU'RE DONE WITH THE TASK...

 Illustration-4
Find the moment of inertia of the rod AB about an axis yy as shown in figure. Mass 0/ the rod is m
and length is 1.

':y
Solution:

Mass per unit length of the rod = T Mass of an element PQ of the rod is, dm = (9) dx
Perpendicular distance of this elemental mass about yy is, r = xsin a :. Moment of inertia of this
small element of the rod (can be assumed as a point mass) about yy is,

di= (dm)r 2 = (9dx)(xsina) 2·= (Tsin 2 a)x 2 dx

B

:Y
'
Moment of inertia of the complete rod,
m m/2
f
x=I JI
I= di= -sin 2 a x 2 dx = -sin 2 a
x=O l o 3 ·

Illustration-5
The moment of inertia of a ring about one of its diameters is I. What will be its moment of inertia
about a tangent parallel to the diameter?

(A) 41 (B) 21 (C) !.1 (D) 3/

2
Solution: (D)

J = !_ MR. 2 _ According to theorem ofparallel axes.

2 .

l'=!_MR.2 +MR.2 =!_MR.2 =31.

2 2

DON7 STOP UNTIL YOU'RE DONE WITH THE TASK..,

ROTATION ;;;;;i;;;;;;;;;;;;;;;;;,;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;,;;;;;;;;,;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;,;;;;;;;;,;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;.;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;~ XI-PMl-306 If'
7. KINEMATICS OF RIGID BODY
7.1 ANGULAR DISPLACEMENT
0
Consider a rigid body undergoing rotation about an axis,
perpendicular to the plane of the paper and passing throughO .
Suppose that A and B are. any two particles of the rigid body at
the position 1 while A' and B' are their subsequent locations
when the body is at the position 2.
Since tqe body undergoes rotation,
~'
OA = OA' And OB = OB' ' \
I

FurtherAB = A' B', since the body is rigid. -- - ,I

=> t.OAB =t.OA'B' (Congruent)
i.e. LAOB = LA'OB'
Adding LAOB' to both sides of the above equation, we get
LBOB' = LAOA' = 0(say)
This implies that in a given interval of time the angular displacements of all particles of the
rigid body undergoing rotation are identical.
Therefore, a single variable, viz. angular displacement (0) can be used to describe the
rotational motion of the rigid body.

7.2 ANGULAR VELOCITY (w)

The rate of change of angular displacement with respect to time is known as angular velocity.
Average angular velocity: The rate of change of angular displacement with respect to time is
known as angular velocity.
To define average angular velocity it is necessary to specify the interval in which we are
.
talking about average. w = tz-t,

Instantaneous angular velocity: Instantaneous angular velocity means angular velocity at a

particular instant. It is mathematically defined as,

W -
_ I" 82-81
1mt2-+t1 t2-t1
= d8]
dt
at t = t
1

7.3 ANGULAR ACCELERATIONS (a):

The rate of change of angular velocity with respect to time is known as angular acceleration.
Average angular acceleration: It is necessary to specify the time interval to in which we are
talking about average.
In a given time interval t 1 to t 2 the average angular acceleration is defined as, ii = Wz-w,
t2-t1
Instantaneous angular acceleration: Instantaneous angular acceleration means angular
acceleration at a particular dot instant at t = t 1 mathematically it is defined as,

a = llmt, -+tz i
• •
2
iJ2 - iJ 1 dw]
= -d
t2 - t1 t t=t,

DON'T STOP UNTIL YOU'RE DONE WITH THE TASK•••

 XI-PM/-307
Direction of angular acceleration: If magnitude of w increasing then direction of a will be
same as direction of w and vice-versa.

7.4 ANGULAR VELOCITY OF A RIGID BODY IN ROTATIONAL AND

TRANSLATIONAL MOTION

Consider two particles A and B on a rigid body (in translational

and rotational motion). In general, velocity of A is not equal to
the velocity of B.
or
VA-:/:. VB

Find their components along AB and perpendicular to AB.

Now,
(a) Along AB their components are always equal or,
vAcosa = v 8 cosf3
This is because, in a rigid body distance between two
particles (here A and B) is always constant. If the
components are not equal then the distance AB will
either increase (when vAcosa > v 8 cosf3) or
decrease (when v 8 cosf3 > vAcosa).

(b) Find relative component perpendicular to AB and divide it hy the distance AB to find
angular velocity of the rigid body. In the given figure, the perpendicular components are
vAsina and v 8 sinf3 (in the same direction). Suppose vAsina > v 8 sinf3. Then, the
relative component perpendicular to AB is
Vr = vAsina - v 8 sinf3
Vr vAsin a - v8 sin /3
w =AB= AB

As, vAsina > v 8 sinf3, so rotation of the body is clockwise and according to right hand rule,
angular velocity vector is perpendicular to paper inwards. This direction is also shown like (8) .

Illustration-6
Two particles A and Bare moving as shown in figure. At this moment of time, the angular speed of B
with respect to A is

(v. -vb) Va Vb
(vb sin(Jb + v. sinB. ) (b)
(a)
r r

(vb sin(Jb - v. sinB.) (v.+vh) A B

(c) (d)
r r

DON'T STOP UNTIL YOU'RE DONE WITH THE TASK...

 XI-PMl-308 If'
Solution:
Let us resolve velocities Va and vb along x and y axes.
v,, = - Va cos Ba, Vy = Va sin Ba •
v',, = bb cos Bb, v~ = vb sin Bb
Relative velocity of B with respect to A along y-axis = vb sin Bb - Va sin Ba
9 9
Angular velocity of B with respect to A w= vb sin b - Va sin a
r

8. TORQUE
Suppose a force F is acting on a particle P and let r be the position vector of this particle about
some reference point 0. The torque of this force F, about O is defined as,

, ,P,_
· ---+ F

·O

i=rxF
· This is a vector quantity having its direction perpendicular to both r and F, according to the
rule of cross product.
Note: Here, r = rp - r0
rp = position vector of point, where force is acting and
r0 = position vector of point about which torque is required.
8.1 TORQUE OF A FORCE ABOUT THE AXIS
Consider a rigid body rotating about a fixed axis AB. Let F be a force ac\ing on the body at
point P. Take the origin O somewhere on the axis of rotation. The torque of F about O is
i=rxF
Its component along AB is called the torque of F about AB. This is also equal to
, = F x r.L
A

Here, r.L = perpendicular distance of point of application of force from the line AB
DON'T STOP UNTIL YOU'RE DONE WITH THE TASK...
 ROTATION
If' XI-PM/-309

lllustration- 7
A particle of mass ,n is dropped at point A, jind the torque about O.
Solution:

0
m

mg
i=rxF
::::) i = rFsin On = (rsin 8)Fn
_ ::::)T= bmg
The direction of torque is directed inward the paper or in other words, rotation about O is
clockwise.

9. NEWTON'S LAW EQUIVALENCE FOR ROTATION

If a body rotates purely about an axis S with angular acceleration a and net
torque acting on the body about Sis Ts, then Ts =I a

Illustration-8
A triangular plate of uniform thickness and density is made to rotate about an axis perpendicular to
the plane of the paper and (a) passing through A, (b) passing through B, by the application of the
same force, F, at C (midpoint of AB) as shown in the figure. ls the angularacceleration in both the
cases be the same?

Solution:
T = la a=-
T

T
'
= Force x perpendicular distance Torque is same in both the cases. But since J will be different
due to different mass distribution about the axis.
a will be different for different cases

DON7 STOP UNTIL YOU'RE DONE WITH THE TASK, ..

ROTATION ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; XI-PM/-310 If'
10. TOPPLING
You might have seen in your practical life that if a force F is applied to a block A of smaller
width and greater height it is more likely to topple down before sliding while if the same force
F is applied to an another block B of broader base, chances of its sliding are more compared to
its toppling. Have you ever thought why it happens so. To understand it in a better way let us
take an example.

Suppose a force Fis applied at a height b above the base AE of the block. Further, suppose the
friction f is sufficient to prevent ·sliding. In this case, if the normal reaction N also passes
through C, then despite the fact that the block _is in translational equilibrium (F = f and
N = mg), an unbalanced torque (due to the couple of forces F and f). is there.

f ''
·1 c! ·r:FI·
W=mg

This torque has a tendency to topple the block about point E. To cancel the effect of this
unbalanced torque the normal reaction N is shifted towards right a distance ' a ' such that, net
anticlockwise torque is equal to the net clockwise torque or

f\t
·1 :1 I:FI·
mg
(b)

or Fb = (mg)a
Fb
a =-
mg

Now, if F orb (or both) is increased, distance a also increases. But it can not go beyond the
right edge of the block. So, N N
in extreme case (beyond
which the block will topple
down), the normal reaction
B D
F Ib B D
F Ib
passes through E as shown f A E
in Fig. (b ). mg mg
(a) (b)

.DON'T STOP UNTIL YOU'RE DONE WITH THE TASK...

 Illustration-9
A uniform cylinder of height h and radius r is placed with its circular face on a rough inclined plane
and the inclination of the plane to the horizontal is gradually increased. Ifµ is the coefficient of
friction, then under what condition the cylinder will (a) slide before toppling (b) topple before sliding.
Solution:
(a) The cylinder will slide if

mg sin 0 > µmgcos 0

or

tan0 >µ
The cylinder will topple if (mgsin 0) > (mgcos O)r
2
2r
or tan0 >h
Thus, the condition ofsliding is tan 0 > µ and condition of toppling is tan 0 > ~- Hence,
the cylinder will slide before toppling if
2r
µ<h
(b) The cylinder will topple before sliding ifµ >
h

Illustration-] 0
A uniform cube of side a and mass ·m rests on a rough horizontal table. A horizontal force F is
applied normal to one of the faces at a point directly above the centre of the face, at a height 3 a above
4
the base. What is the minimum value of F for which the cube begins to tip about an edge?
Solution:
In the limiting case normal reaction will pass through 0 . The cube will tip about O if torque of F
exceeds the torque ofmg.
Hence,

F (34a) > mg (i)

2
or F > 3mg
2
Therefore, minimum value of Fis mg.
3

DON7 STOP UNTIL YOU'RE DONE WITH THE TASK...

ROTATION ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;~;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;~ XI-PMl-312 If'
11. ANGULAR MOMENTUM
11.1 ANGULAR MOMENTUM OF APARTICLE ABOUT A POINT AND ABOUT AN AXIS
Angular momentum: The turning movement of a particle about the ax.is of rotation is called the
angular momentum of the particle and is measured as the product of the linear momentum and
the perpendicular distance of its lien of action from the axis of rotation. It is denoted by L.
Therefore, Angular momentum = linear momentum x perpendicular distance from the axis of
rotation
2 1
In SI, the unit of angular momentum is kgm 2 s- 1 . Its dimensional formula is [ML T- ]

11.2 ANGULAR MOMENTUM OF A PARTICLE ABOUT A POINT

Suppose a particle A of mass m is moving with linear momentumP· = mv. Its angular
momentum L about point O is defined as: L = r x P= r x (mv) = m(r xv)
Here, r is the radius vector of particle A about O at that
.A
instant of time. The magnitude of L is 0
P=mv
L = mvr sin 0 = mvr.L r = rsin0
r.L
Here, r.L= r sin 0 is the perpendicular distance of line of
action of velocity v from point 0. The direction of L is i
0
0 __________ ____ l
same as that of rxv.

Illustration-11
A particle of mass m is projected from origin O with speed u at an angle 8 with positive x-axis is in
vertically upward direction. Find the angular momentum ofparticle at any time t about O before the
particle strikes the ground again. y • p

/
Solution:
v
i'
!
I
i
r.L =b
0 ' X
Here,

and -;,(t)=v) +v) == (u cos 0) i + (u sin 0-gt) j

j k
;
I
, 0 == m[(u1 sin 0cos 0) I - (u cos 0) gr
=m (ucosO)t (usinO ) t- 2 gr
0
ucos0 usin0-gt

J t 1 ] k· ==--m
J ( ucos0 ) gt 1k·
- ( u 1 sinOcos 0) t+ ( ucos 0)g 2
2

DON'T STOP UNTIL YOU'RE DONE WITH THE TASK...

&,
f\ X/-PM/-313 !!ii!!!!i!!!!!!!!!!!!!!!!!!!!ii!!!!i!!iiiiiii!Eiii!!i&iiii!iiii2i;;;;;;;;;;;;;;;;s;;;mE::2!;2!!!:!!!!!i3!!3i!ii=!==~======:!=! ROTATION

11.3 ANGULAR MOMENTUM OF A RIGID BODY ABOUT AN AXIS

. gomg
Suppose a particle P of mass m 1s . m. a circle
. . r an d a t some instant the speed of
of radius
. icle is v. For finding I.he angular momentum of the particle_ about
the part l.A
the axis of rotation, the origin may be chosen anywhere on the ruus. We wQ
- I
choose it at the centre of the circle. In this case r and P are
perpendicular to each other and rxP is along the axis. Thus, component O t p
of rx P along the axis is mvr itself. The angular momentum of the whole i

:B
I
rigid body about AB is sum of components of all particles, i.e.

Here, v; = r;ro
L=Im;r;2ro or L=roIml or L = Iw (as Iml=I)
i i

12. RELATION BETWEEN TORQUE AND ANGULAR MOMENTUM

L=rxp

-dL =-x
dr _ _ dp _ ( _) _ F
p + r x- = vx mv +rx
-
_
dt dt dt = o+ r x F =i ext
This relation is analogous to F= ma , which is applied in rotation.

13. CONSERVATiON OF ANGULAR MOMENTUM

- dL
We know that t=-
dt

When there is no net external torque acting on a particle, then dL = O.

dt
[ = constant
Therefore, the angular momentum of the particle remains invariant in the absence of any net
external torque.

14. ANGULAR IMPULSE

,,
The angular impulse of a torque in a given time interval is defined as ft dt
Hence, is the resultant torque acting on the body. Further, since
- dL
t=-
dt
,,
or Fdt= angular impulse =Li-L1
,,
Thus, the angular impulse of the resultant torque is equal to the change in angular momentum.
Let us take an example based on the angular impulse.

DON7 STOP UNTIL YOU'RE DONE WITH THE TASK...

ROTATION ·
XI-PMl-314 If'
Illustration-12
A P~~/e of mass m is projected from origin O with speed u at an angle 8 with positive x-axis.
Pos,ttve y-axis
· ism · lllV upward direction.
· · vertica · · · the angular momentum ofparticle at any time t
Find
about O before the particle strikes the ground again.
Solution:
L = m(r Xv)
Here r(t) = xf + yj = (ucos 0)f + (utsin 0 -½ gt 2 )J
and v(t) = vxf + vyJ = (ucos 0)f + (usin 0 - gt)J

f J k
L = m(r Xv) = m (ucos 0)t (usin 0)t -½ gt 2 0
ucos0 usin0 - gt O

= m [ (u 2 sin 0cos 0)t - (~cos 0)gt 2 - (u 2 sin 0cos 0)t + ½(ucos 0)gt 2 ] k
= _:_ ½m(ucos 0)gt 2 k

Illustration-13
A rod of mass 2 kg and length 2 m is rotating about its one end O with an angular velocity w =
4rad Is. Find angular momentum ofthe rod about the axis rotation.

I
c~
ID

Solution:
Jn pure rotational motion of a rigid body, component of total angular momentum about axis of
rotation is given by
2 2
L = Iw = ( -ml3- )
w ( /0=3
ml )

Substituting the values we haye,

L = (2)(2)2 (4)
3
32 2
= - kg-m /s
3 .
Direction of this component is perpendicular to paper inwards (from right hand rule), as the
rotation is clockwise.

DON'T STOP UNTIL YOU'RE DONE WITH THE TASK...

 ROTATION

lllustration-14
-------
A wheel of moment of inertia I and radius R is rotating about its axis at an angular speed Wo. lt picks
up a stationary particle of mass mat its edge. Find the new angular speed of the wheel
Solution:
Net external torque on the system is zero. Therefore, angular momentum will remain conserved
Thus,
Here,

= /2 w 2 orw2 = --
l1W1

/2
= I, W1 = w 0 , / 2 = I + mR 2
lw 0
Wz = l+mR 2

15. ROTATIONAL WORK AND POWER

Consider the rigid object pivoted at O in figure. It is acted on by an external force F that has a
radial component Fr and a tangential component Ft. In an infinitesimal time interval dt, the
point of application of force moves in a circular arc oflength r d(J. Therefore, the work done is
dWro1 = Ft(rd0) = (Ftr)d0 = rd(}
Notice that the radial component vector of F does no work on the object because it is
perpendicular to the displacement of the point of application of F.
F

,,,, , -
_. ,,
........ - F,
,,
''\ ·, ---

For a finite angular displacement,

Wrot = (91 rd(}

le,
The rate at which work is being done ~y F as the object rotates about the fixed axis through the
angle d(J in a time interval dt is
dW d0
dt= r dt
Because dW / dt is the instantaneous power P delivered by the force and d(J / dt = w, this
expression reduces to
dW
P=-=rw
dt

DON'T STOP UNTIL YOU'RE DONE WITH THE TASK...

ROTATION '5i!!!~~~~~~~~iii!ii!!i!!!!!!!!!i!i!i!!!!!!!!!i!i!i!!!!!!!!!i!i!i!!!!!!!!!i!i!i!!!!!!!!!i!i!i!!!!!!!!!i!i!i!!!!!!!!!i!i!i!!!!!!!!!i!i!i!!!!!!!!!i!i!i!!!!!!!!!i!i!i!!!!!!!!!i!i!i!!!!!!!!!i!i~ X/-PM/-316 If'
16. KINETIC ENERGY OF RIGID BODY IN COMBINED TRANSLATIONAL
AND ROTATIONAL MOTION

Here, two energies are associated with the rigid body. One is translational ( = ½mv~oM) and

another is rotational ( = ½IcoMw 2). Thus, total kinetic energy of the rigid body is

K = 21 mvcoM
2 1
+ 2 IcoMw
2

16.1. UNIFORM PURE ROLLING .

Pure rolling means no relative motion (or no slipping) at point of contact between two bodies.
For example, consider a disc of radius R moving with linear velocity v and angular velocity w
on a horizontal ground. The disc is said to be moving without slipping if velocities of points P
and Q (shown in figure (b) are equal, i.e.

WWWQ'.QWt l tQW"',OO>§SS!
Q •
(fl)) (b) '

v-Rro=0
v=Rro

If Vp > vQ or v > Rw, the motion is said to be in forward slipping and if Vp < vQ or v < Rw,
the motion is said to be in backward slipping (or sometimes called forward English).

Illustration-15
A solid disc is rolling without slipping on a horizontal ground as shown in figure. Its total kinetic
energy is 100 J. What is its translational and rotational kinetic energy.

DON7 STOP UNTIL YOU'RE DONE WITH THE TASK...

Solution:
. 1
In case ofpure rolling, ratio of rotational kinetic energy and translational kinetic energy zs 2·

or KR
Kr = 21 KR = ( 1+1 2) (Iota/ kinetic energy)=
1
3 (100 J) = -100
3- ]

Similarly, Kr = (1!2) (Iota/ kinetic energy)

2 200 ·
= 3 (100 J) = 3 J

Illustration-16
A disc is rolling (without slipping) on a horiwntal surface. C is its centre and Q and P are two
points equidistant from C Let Vp, vq and Ve be the magnitude of velocities. of points P, Q and C
respectively, then
(a) Vq > Ve > Vp
(b) Vq < Ve < Vp
(c) Vq = Vp, Ve= 2Vp
1

(d) Vq < Ve > Vp

Solution:
In case ofpure rolling bottom most point is the instantaneous centre ofzero velocity. Velocity of
=
any point on the disc, v rw, where r is the distance ofpoint from O.
TQ > Tc > Tp VQ > Ve > Vp
Therefore, the correct option is (a).

17. ROLLING ON ROUGH INCLINED PLANE

A body of mass M, radius Rand moment of inertia/ is
kept over a rough ground as shown in figure. In this case
no external force is applied for accelerated pure rolling.
But mg sin 8 is already acting at centre.
As we said earlier also, force of friction in this case will
be backward. Equations of motion are

DON7 STOP UNTIL YOU'RE DONE WITH THE TASK...

 If'
a= Mgsln8-f
.. . (i)
M

a= fR .. . (ii)
I

For pure rolling to take place,

a= Ra .. . (iii)

Solving Eqs. (i), (ii) and (iii), we get

- Mgsln8
f ----;;;;, . .. (iv)
1+M~

and

gsin8 ... (v)

a= ----r-
1+~

From Eq, (v), we can see that if a solid sphere and a hollow sphere of same mass and radius are
released from a rough inclined plane and pure rolling is taking place, then the solid sphere
reaches the bottom first because

fsolid < /hollow Or asolid > ahollow t solid < thollow

Further, the force of friction calculate\! jn Eq. (iv) for pure rolling to take place should be less
than or equal to the maximum available friction µMgcos 0.

Mgsin 0 · tan 0
MR 2 µMgcos0 orµ~ MR 2
1+-1- 1+-1-

Thus, minintum value of friction required for pure rolling is

tan0
µm in = 1 + MR2 / I
If given value ofµ > µm in• then friction acting on the body is
Mgsin0
f=l+MR 2 /1

and in this case linear acceleration of the body is

gsln0
a=l+l/MR 2

DON7 STOP UNTIL YOU'RE DONE WITH THE TASK."

If XI-PMl-319

Illustration-17
A tangential force F acts at the top of a thin spherical shell of mass m and radius R. Find the
acceleration of the shell ifit rolls without slipping.

~ ;

Solution:
D
Let f be the force offriction between the shell and the horizontal surface. For translational motion,
F+f = ma . . . (i)
For rotational motion,
FR - fR =la= I~R
[·: a= Ra/or pure rolling]
F-f =f.!!....
R2
... (ii)
Adding Equations (i) and (ii), we get

2F= (m + : 2 )a = (m +¾m)a = ~ma

or F = 6ma
5 · [ ·:!shell= 'imRz
2 ]

6F
a=-
sm

Illustration-18
A solid sphere of mass M and radius R is hit by a cue at a height h above the centre C. For what
value of h the sphere will roll without slipping?

Solution:
For rolling without slipping,
v=Rw
Here, v and ware the values obtainedjust after hitting.
= R (1~ri)
Here, r.1 =hand I= le= ¾MR 2
Substituting these values in Eq. (i), we have
2
h=-R
5

DON'T STOP UNTIL YOU'RE DONE WITH THE TASK...

 XI-PMl-320 If'
Illustration-19
A uniform sphere of mass m and radius R starts rolling without slippin~ d~wn an inclined plane.
Find the time dependence of the angular momentum of the sphere relative to the point of contact at
the initial moment. How will the result be affected in the case of a perfectly smooth inclined plane?
The angle of inclination of the plane is 8.
Solution:
Applying the equation (about bottommost point)

Angular impulse= change in angular momentum about point ofcontact we have,

T = (mgsin O)R = constant

Angular impulse = T x t = (mgsin (})Rt

or T = (mgsin O)Rt

Illustration-20 t,1 ..} i;\

A uniform circular disc has radius R and mass m.A particle, also of mass m, is fixed at a point A on
the edge of the disc as shown in the figure. The disc can rotate freely about a horizontal chord PQ
that is at a distance!! from the centre C of the disc.The line AC is perpendicular to PQ. Initially the
4
disc is held vertical with the point A at its highest position. It is then allowed to fall, so that it starts
rotation about PQ.

Find the linear speed of the particle as it reaches its lowest position.
Solution:
Initial andfinal positions are shown below.

s:J =
Decrease in potential energy of mass
= mg {2 x s";gR

DON'T STOP UNTIL YOU'RE DONE WITH THE TASK."

If' X/-PM/-321

l l
Ff SR

a J;;--:0 -:&-l:"l"
C "'l~R
RI
4

m !
Decrease in potential energy of disc = mg { 2 x ~} = m:R

"'-z R + m:R = 3mgR

5 9
Therefore, total decrease in potential energy ofsystem=

Gain in kinetic energy of system = ½I w 2

where, I= moment of inertia of system (disc+ mass) about axis PQ = moment of inertia of disc+
moment of inertia of mass

.= {mR
4+m (R) (SR)
2 2 2

4 }
+m 4
15mR
/=--
2

Illustration-21
A solid ball rolls down a parabolic path ABC from a height h as shown in figure. Portion AB of the
path is rough while BC is smooth. How high will the ball climb in?

Solution:
At B, total kinetic energy= mgh
Here, m = mass ofball
The ratio of rotational to translational kinetic energy would be,

-KR = -2 ~:. KR = -mgh

KT 5
2
7
and KT
5
= -mgh
7
In portion BC, friction is absent. Therefore, rotational kinetic energy will remain constant and
translational kinetic energy will convert into potential energy. Hence, if H be the height to which
ball climbs in BC, then
mgH =Kr= ormgH= 5/7mgh orH= 5/7 h

DON'T STOP UNTIL YOU'RE DONE WITH THE TASK...

ROTATION

Illustration-22
A ball moves over a fixed track as shown in the figure. From A to B the ball rolls without slipping. If •
surface BC is frictionless and KA ; Ks and hA Kc are kinetic energies of the ball at A, B and
respectively, then

·1l G
~1
(a) hA> he; Ks> Kea
A . .

LJ~
(b)hA > he; Kc > KA
(c) hA = hc;Ks = Kc O
(d)hA < he; Ks > Kc a
Solution:

On smooth part BC, due to zero torque, angular velocity and hence the rotational kinetic energy
remains constant. While moving from B to C translational kinetic energy converts into
gravitational potential energy.
:. The correct option is (a)

Illustration-23
A rod of uniform mass and of length L. can freely rotate in a vertical plane about an axiS; passing
through 0. The angular velocity of the rod when it falls from position P and P' through and angle
a is

If sm2
(J)

-
(a) ~sina
L
(b) ·a
:1··-~:>('
..
(c) It cos a
2
(d) !fsina a.•·
.
'

Solution:
When the rod falls through an angle a the C. G. falls through a height h. p

(~-h) ,,,,
,,/''
In NJB'B, cosa 1 12
---1/B'
,','
,,,,
,.. ,,
....,,,
1
i.e. h=-(1-cosa) ','
2 ,,','
K.E. rotation = Decrease in P.E.

Illustration-24
A ring of mass m is placed on a rough horiwntal surface with its plane vertical A horfr.ontal impulse
J is applied on the ring of mass m along a line passing through its centre. Determine the linear
velocity ofthe centre of the ring once it starts pure rolling is

DON7 STOP UNTIL YOU'RE DONE WITH THE TASK...

Solution:

G~
let v be the velocity of centre of mass of ring just after the impulse is applied andv is its velocity in

pure~:::;- (3-,
m . P p
Conserving angular momentum about point ofcontact wilfig';;ti;"fr«««,..«««<«<««
V J
v=...!!..=-
2 2m
(b)

1 2
2
{6i".a
i.e. -Im -1 (ml
- ) L
m2 =mg-(1-cosa) or m=vTsm2
2 2 3 2

(a) zero . (b) 5 mg

2
Illustration-25

(d) .mg
5
r
A solid cylinder is wrapped with a string and placed on an inclined plane as shown in the figure.
Determine the frictional force acting between cylinder and plane is

(c) 7mg . • µ,- .4

60°
Solution:
Let us assume, cylinder is not moving. Then,

T+f,=mgsin0; T.R-f,R=O

1 mg
But(!,)mar =µN=µmgcos0 = O.4xmgx-=-
2 5

OON7 STOP UNTIL YOU'RE DONE WITH THE TASK...