Classical Mechanics

Rotation of Rigid Bodies 3

TKU211121
Basic Sciences
2 SKS
Odd Semester 2022/2023
What will you learn
• Application of Newton’s 2nd Law for Rotation
• Rolling without Slipping
• Rotation from the perspective of a vector
Newton’s 2nd Law
Translation vs Rotation
Applying Newton’s 2nd Law for Rotation
Example Application 1
• The engine in a small airplane is specified to have a torque of 60 N
m. This engine drives a 2.0-m-long, 40 kg propeller. On startup,
how long does it take the propeller to reach 200 rpm?
Moment of Inertia with respect to CoM:
1
𝐼= 𝑀𝐿2
12
Torque from the engine produces angular acceleration:
𝜏
𝜏 = 𝐼𝛼 → 𝛼 = 𝐼
Accelerating rotation:
𝜔 𝜔𝐼
𝜔 = 𝛼𝑡 → 𝑡 = 𝛼 = 𝜏
Example Application 2
• Cylinder movement:
𝜏 = 𝐼α
1
𝑇𝑅 = 𝑀𝑅2 α
2
2𝑇
𝛼=
𝑀𝑅
• Bucket movement:
𝑚𝑔 − 𝑇 = 𝑚𝑎
• Constraint because the string does not
slip:
𝑎 = 𝛼𝑅
• Finish the equation:
𝑚𝑔 = 𝑚𝑎 + 𝑀𝑎/2
𝑚
𝑎= 𝑔
𝑚 + 𝑀/2
Combined Motion –
Rolling without Slipping
• After pure translation and pure rotation,
we now move to a combined motion.
• One example is rolling without slipping
shown here.
• The key fact here: whenever the center of
mass moves for duration Δ𝑡, which is
equals to the ball’s period of rotation, the
distance covered equals 1 complete
rotation!
• Important fact: rolling without slipping is
only possible if there is enough friction
on the floor!
Combined Motion –
Rolling without Slipping (2)
• Because the ball does not slip:
Δ𝑥𝑐𝑚 = 𝑣𝑐𝑚 Δ𝑡 = 2𝜋𝑅
2𝜋
𝑣𝑐𝑚 = 𝑅 = 𝜔𝑅
Δ𝑡
• Since rolling is a combination of
translation and rotation:
• The point at the top moves at speed
𝑣𝑡𝑜𝑝 = 𝑣𝑐𝑚 + 𝜔𝑅 = 2𝜔𝑅
• The point at the bottom (the one
touching the floor) moves at speed
𝑣𝑏𝑜𝑡𝑡𝑜𝑚 = 𝑣𝑐𝑚 − 𝜔𝑅 = 0
Kinetic Energy of Rolling Motion
• This can be derived from 2 ways:
• Energy kinetic of rolling = Energy kinetic translation +
Energy kinetic rotation:
𝐾𝑟𝑜𝑙𝑙 = 𝐾𝑡𝑟𝑎𝑛𝑠 + 𝐾𝑟𝑜𝑡
1 1
𝐾𝑟𝑜𝑙𝑙 = 𝑚𝑣𝑐𝑚 + 𝐼𝑐𝑚 𝜔2
2
2 2
• Energy kinetic of rolling = Energy kinetic rotation with
respect to point P which is instantaneously at rest:
𝐾𝑟𝑜𝑙𝑙 = 𝐾𝑟𝑜𝑡,𝑃
1 1
𝐾𝑟𝑜𝑙𝑙 = 𝐼𝑃 𝜔 = 𝐼𝑐𝑚 + 𝑚𝑅2 𝜔2
2
2 2
1 1 1 1
𝐾𝑟𝑜𝑙𝑙 = 𝑚𝑅 𝜔 + 𝐼𝑐𝑚 𝜔 = 𝑚𝑣𝑐𝑚 + 𝐼𝑐𝑚 𝜔2
2 2 2 2
2 2 2 2
Example – Race of Downhill Rolling
Energy Analysis
• Suppose that the object has moment of inertia 𝐼 =
𝑐𝑀𝑅 2 . Calculation of energy:
𝐸𝑖 = 𝑀𝑔ℎ
1 2
1 1 1
𝐸𝑓 = 𝑀𝑣𝑐𝑚 + 𝐼𝜔2 = 𝑀𝑅 2 𝜔2 + 𝑐𝑀𝑅 2 𝜔2
2 2 2 2
1
𝐸𝑓 = 1 + 𝑐 𝑀𝑅 2 𝜔2
2
• Conservation of energy:
1
𝑀𝑔ℎ = 1 + 𝑐 𝑀𝑅 2 𝜔2
2
1 2𝑔ℎ
𝜔=
𝑅 1+𝑐
How fast is each object at the end of the 2𝑔ℎ
inclined plane? 𝑣𝑐𝑚 =
1+𝑐
Example – Race of Downhill Rolling
Force Analysis
• Remember: friction 𝑓 is present during
rolling motion.
• Newton’s Law for Translation:
𝑀𝑔 sin 𝜃 − 𝑓 = 𝑀𝑎
• Newton’s Law for Rotation:
𝑓𝑅 = 𝐼𝛼 = 𝑐𝑀𝑅2 𝛼
• Rolling without slipping: 𝛼𝑅 = 𝑎:
𝑓 = 𝑐𝑀𝑎
• Finish the equation:
How much is the object accelerated during 𝑔 sin 𝜃 = 1 + 𝑐 𝑎
the motion?
𝑔 sin 𝜃
𝑎=
1+𝑐
Rotation from the
perspective of a vector
• So far, we have treated 𝜔, 𝛼, 𝜏, and so on as a scalar
quantity having a plus/minus sign depending on the
direction (ccw or cw).
• But, these are all vector quantities. Where is it
directed to?
• A vector ω is directed towards the axis of rotation
given by the right-hand rule!
• If the object rotates in the 𝑥𝑦-plane, the vector 𝜔
points along the 𝑧-axis.
• For ccw rotation, 𝜔 is directed towards the positive z-
direction. For cw rotation, 𝜔 is directed towards the
negative z-direction.
Cross Product
• It is useful to define a cross product
between 2 vectors:

• Cross Product is NOT commutative:

𝐴×𝐵 ≠𝐵×𝐴
𝐴 × 𝐵 = −𝐵 × 𝐴
• Cross product of unit vectors:
𝑖 × 𝑗 = 𝑘; 𝑗 × 𝑘 = 𝑖; 𝑘 × 𝑖 = 𝑗;
𝑖 × 𝑖 = 𝑗 × 𝑗 = 𝑘 × 𝑘 = 0;
Torque as a Cross Product
• Remember the torque equation? 𝜏 =
𝑟𝐹 sin 𝜃
• This looks like a cross product, no? It
actually is!
𝜏 =𝑟×𝐹
• That’s why the torque’s magnitude is:
|𝜏| = |𝑟||𝐹| sin 𝜃
• And that is why the torque’s direction is
perpendicular to both force 𝐹 and
distance to pivot 𝑟. In the example, the
torque is directed towards 𝑥 axis.
Example
• The torque vector:
𝜏 =𝑟×𝐹
𝜏 = 𝑟𝐹 sin 𝜙 = 17 𝑁. 𝑚
• What about the direction?
Directed into the page
Take Home Lesson
• Application of Newton’s 2nd Law for Rotation
• Rolling without Slipping
• Rotation from the perspective of a vector
Homework #3
1. Blocks of mass 𝑚1 and 𝑚2 are connected by a massless
string that passes over the pulley. The pulley turns on
frictionless bearings. Mass 𝑚1 slides on a horizontal,
frictionless surface. Mass 𝑚2 is released while the blocks
are at rest. Suppose the pulley has mass 𝑚𝑝 and radius
𝑅. Find the acceleration of 𝑚1 and the tensions in the
upper and lower portions of the string.
2. A solid sphere of radius 𝑅 is placed at a height of ℎ on
a slope with angle 𝜃. It is released and rolls, without
slipping, to the bottom. From what height should a
circular hoop of radius 𝑅 be released on the same slope
in order to equal the sphere’s speed at the bottom?
Enjoy the journey!