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    9 views28 pages

    Ch-9 Rotational Motion

    Uploaded by

    S. Kalaivani

    Copyright:

    © All Rights Reserved
    Download as PDF or read online from Scribd
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    ! Axis of Rotation Centre of Mars — Centre of mars of a bocly or eystem 4s a point which moves such they all the maw 4b Concentyoted there anol all externed forces ane applied Hur. * The position of Centre of mass cluperels upon He Shape of Hat bocky and Aistribution of mass. * In Symmetrical boclits in which ckshibution of mays Js homogenenus, the centre of mars coincides With the geometrical centre of the body. # Centre of mars may be insicn or outsole the body. eq. Civculanr disc —> Within the body Circulon Ring — Outside the body Position Vector of centre of mass for n particle system Lat a system consist of n Perticles of masses M1,Mq, ... Mn Whose position vectors are ¥7) Tay YZ o--- 7% vedpectively: Then position vector of Centre of mass Mit, tay, +... nln Mm) + Matern Mn Position vector of Centre Of mard for tu particle system yoo My + mh mM +m IMPORTANT POINTS tJ Th the origin 4s at the Centre of mars, then the sum of the “moments of the manries of the system about the centre of mass is zero. omni =o 24 Ip a System of particles of massed My Ma 4-2 Mn move with velociHes Vi9Vaye" Vn then the velocity of centre of mors is LMvi um => Vem = 3) Th a system of particles of massed ™, 9 m72,... Mn move th accelerations 5 A,5--1 An then the acceleration of centre of mass is Ba = midi =m 4) Foree on a rigid body Position of Centre of mans of clifferent bodies L Body Position of Centre of Mass Uniform hollous/Selid Sphere| Centye of sphere Uniform civewar ving Joise| Centre of ring /clisc Uniform Red Centre. of rod Square, Rectangle, Panaielogram) Point of intersechon of cliagenals Triangular plane Lamina Point of Intersection of mections Rectangular /Cubical block | Points of indeysection of diagonals Hollow / Solid Cylinder Micldle point off the axis On the anis of the ane ot Point Hatance Bh/y from the Vertex , h = height of the Cone Solid Cone or Pyramid Equations of Lineaa MoHon + Rotational Motion Linean MoH Ratational Motion — Gh) Tk & 20, thin Ww = Comat. Gi) tan = Ww) + eut Gi) Ip Q=0, ten UH Comat. Gi) visu +ar qi s = ut +hae vw vr = u>+ 2a5 W) Sy =U +daln-1) Vv a (ii) es ut + Last Gv) wr = we +200 ) Om = vw, W@W) we ae wy Wi) a= dp = og + da (@n-1) wid wt) Moment of Insta - I+ Ja a property of a body duc + which ut Opposes any change in the State of vest ov Uniform rotation. Moment of Inecha plays the Same role ‘In rotational motion as mass plays in Lineax motion, The moment of inertia of gals Q particle with respect 40 an axis of vetaHon is equal to the product ra of the moss ob the particle and Square of distance from rotational axis. Moment of Inetia of system of Particles I= my amyt ee axis Fey Continuous distnbutin of mass Ys Note - Gid SZ Umit - Kg-m™ Gi) Moment ob intra depends on mars Shape, size ore Senay ok the body, I+ also cleperels taper wy POBItON ob axis of rotation and mars olistributin- | Moment of inutia does not adxpenals | velocity, angular } upon Anglon Momentum of the bed ™, torque and angular Dimensiongs- Cm re] _ —_—_— Raclius of Gyraction (K ) The radius ob guration of a body 1b the perpendiwlar distance from axis of Totation, the Square of this dlistance when multiplied by the mars of body then it gives the moment: of inertia of the body (T= Mkt) about same axis of Yotahon. I =Mk> > [e-F | From the foxvmua of liscrete aistribustion LE myy2 t mary tenes mare Tk om, emy soe. My = mM Hen Se Loe m(a wee We) Hen MK*™ =m (yta4rte--- va) (am)k* = m(yP4 G4. 1) [TL = Total No. of Particles Ya K = ++ n Hence vooliud of gyration of a body about a given axis 4% equal to the root mean square olistanee of the consti- tuint Portides of the body from the given axis. Note- a1 SZ Unit - Metre Dimensions - Cmr*'t?] 421 Radius eh gyration depends on axis of rotation and dlistribudion ob mard of the body (shape and size) . S aa of gyration loos not clepend on mars of the Theorem of Ponolll axes- Moment of Inertia of a body about an axis is equal +o tne moment of Inmtia about a panatle) axis passing throngh the centre of mars plus product of mars of the body and the square of alistanee between thae dwo paralld anis. Note pbbiicable for bodies of any type amd shaper Theorem of Penpendliculan Axed — Moment of inentia of a plane damina about an axis perpendicular to its plane 4s equcd +o the sum of the moment of inarHa of the lamina about any to mutually perpendicular axis in its own plane bree Secting each other at the point Hough whieh the perpenidiculor axis Parser, How Ix, ly and Te ane Moment ob invita about KY and z axis Yedspectvely, y Note - “~~ Applicable only for dum ciimensional bedies and Gan not be used for tree climensional bodies. Moment of Inertia of a Ring- ng through the centre ob ring Li) About an axis parsi arid _perpendiculan to its plane - let M = marr of ring R yadius of ring The ring ws assumed to made of Small elements of mass dm. Moment of inatia of His element about the axis dar = dm R* Moment oh Inertia of the whole ring about the axis z= faz = fame > [tema] 2] About the diameter of the ring - Let moment of inertia of the ring about each ameter (xx! and yy!) 48 Ta- Both the diameter are perpencticular to the axis Zz! which Js passing the Cente of the vin ard perpendicwiar 40 its plane: By theorem ob Perpencli cular. axed Ine Ix + Ty or Tz = lag +Ta = 20a oe MR = 2Ta as : oon $ 3) About an axis tangential and parxalll 4o the diameter of the ring By theorem of parallel axis It = Ia + MR? Lr = Mg? 4 met a Ir = 2™MR* T 2 uJ About the tangent Ponaltel to the axis parting thngh the coebre of xi and perpendicular 4o its plane- By theorem of parallel axis Iy = I + mR? It = MR™ + mr It = 2MR _——— Moment of Inertia of some Standard Bodier Shape of Body | Axisof Rotation Figure Moment of Inertia K | About an axis | 1 fF | passing through MR? | the centre and 2 a perpendicular to | theplane of dise T - ee Circular Dise 1 “euler About a diametric qu gz Mass=M | axis 2 Radius = R | 7 | Aboutanaxis wv | tangentialtothe | 5 2 rimandlyingin | rae | Bp theplane ofthe | | disc | i | About an axis tangential to the rim and Gy 3 wp? perpendicular to 2 the plane of disc About an axis | passing through | Circular Ring | eoemeand MR? | ok | perpendicular to Mass=M | the plane of Ring Radius = t _ dius = R y | | About a diametric lee lk an aR 2 | | Axis of Rotation Aboutits geometrical axis Solid Cylinder Aboutan axis tangential to the cylinder surface Radius=R & parallel to its geometrical axis Aboutan axis passing through the centre of and perpendicular to its length Aboutits geometrical axis Hollow Cylinder About an axis Mass = M perpendicular to Radius=R | its length and passes through Length=L the centre About an axis perpendicular to its length & Passing through one end Shape of Body Axis of Rotation Figure Moment of Inertia x About an axis as M Ri+R the centre and Mip2, rR? n+ Re Annular Disc | perpendicularto Pielieas! Mass = M the plane of disc Internal Radius = R, Outer Radius = Ry About a diametric R xis Mine «Ri a Aboutits oe 2am fF Passing through Hollow Sphere | its contre Mass=M Radius =R About tangent F 5 to the sphere gun fe Aboutits 2upt Diameteric axis 5 zR Solid Sphere | Passing through Mass=M its centre Radius = R ~ 7 About tangent gMR* fee to the sphere ° Shape of Body Thin Rod Mass = M Length = L Axis of Rotation About an axis passing through centre & perpendicular to its length ~ —j— - TT Moment of Inertia vis | ML? 12 | About an axis one end & perpendicular to its length —r 3 Rectangular Pate Mass = M Length =/ Breadth = b Equiateral Triangular plane Side =a | passing through About an axis passing through centre and perpendicular to plane About an axis passing through centre & perpendicular to side / in its plane About an axis passing through | contre & perpendicular to side / in its plane About an axis passing through centre & perpendicular to its plane Axis of Rotation Elliptical discof | Passing through semmaorads=a | CM and Pha and semiminor axis =| perpendicular to yee | db the plane | | Sohdcone of radius) Axis joining the | - la Rand heighth —vertexand centre of the base 3 yp? Torque (ov Moment of force) . The turning effect of a force about the axis of rotation Callec| torque oy moment of force olut to the given fora- Rotation Rotation Radial Component of force a Fz FCoso * Trartverse Component of force ay iE (a) (B) F= FSin@ As TH TFSnO = ¥K OY = T= Position Vector X Transverse Component of force @ Hence Torque a4 clue to trarwerse Component + fore ony. Tn vector form SI Unit - Nem Dimensions - Cutt] z Direction — Torque is an axial vector. T4s direction ss alw perpendicular to the plane. Containing vector VY and F. 1: divection id given by ‘Right hand screw Rule’. G) Foy clockwise yototion Ts -vt Wi) For Ankiclockwise rotation Te +Ve Note - Jj Por a given force and angle, magnitude of torque depends ov v. TRe mere the Value of 1, the more Will be He forque and Its easy to votate te body. Couple — Couple re as ined ar the Gmbinadion of two equal but ebpositely olivectecl forced not acting along tne Same Line> FE Ci xe a | F Note - _ The bosic clipperence between toque anct Couple 1s that in oP i both the forces are extern. sed vohile in case uke One, Fre ta octet aly applied and ‘wt oie as veachonany- Angular Momentum - The angulan momentum of a body about a given axis ib the product of its Linear momentum and per- Pendicular olistince of Lime off acton of Linear momovum vector from the axis of rotation. — e Angular Momentum 7 psine\ [8/ Pane in ech fem j or T = m(Pxv) 3 SI Unit — Toule-sec. Dimensions — CMT) In Cartesian Comdinates ity L = Y = xt4yf 42k Po=mt +A) + Pk and VW = Vet +w4veR t tr x YZ Pe Pe R y . m[(vVe -2M)C~(xva-z)f + (2-4 Jk) Tun Le = (VR-Z2R)E = (xPe-ZP aM + (KR - YER - t 3 and Lemix y Ve W _ Note - 1] Jar momentum is an axial vector Its olirecton is given by ' Right hand sere Rule’. Z) Pr 0-0 oreo , Lamm =o For @ = 30° > Lime = mvr BJ; In Case of Circular motion TavkP zm (¥xV) = mvrSine Los mvr = mrt CAs ¥LV j or L=Llw [As L= mr] The rode of change of angular momentim 4s equal to the net torque acting on the particle, This expression is also Known a> Newton's 2) Law of retational motion. SJ In Case of rotational Motion Angular Momentum L = Tw Retotimeal Kinetic Energy En = ftw > Ee = d2(4]" > Z| Angin momentum of a Syskem of particles is equal to vector Sum of angulas momentum of each particle. -T = Z, +Tat+ we Tn www.sccsikar.com Impulse - Th a Large torque acts on a body for a small hme then Angular Impulse = Tat Angular Impulse = at Hene angular, Impulse 48 equal to the change m a momentum, It has ame unit, dimension anol director abd angidan momentum. Law of Conservation of Angular Momerdum- Th the resultant torque acting on a body Js zew than total angular momentum of the system yemains Constant. An cv Be As By Newton's 24 law op wetatonel Motion Te: at Ty T=0 then Ab =o > AlLczo Henee change. In angular. momentum =0, or Le= Constant, or Li = Leg > w= Lor 3. When @ perso havi weights In Ma hands and Standing ona Yotating Platform , Suddenly folds his arms, thar its mement of muta clecreases and in accorclance the angular speed increases. ra db Note - : Ip external torque of te system is zexo, then the angular. momentum ds Conserved. Homentr. the rotational Rincle energy ds not conserved. T=0 then Tw, = lw or Atup = +her 9 4 (45wP) = L(ghet) then Ike, = Inka, Hene if >, ten Ke < Ke So ik moment of meatig decreases, the retaHonal Kinatic enevgy Increases and vice-versa. Rotational Kinetic Enengy - The energy clue sto rotatonal moHon of a body 3a Known as rotebonal Kinge ensngy: lat @ rigid body is rotating about an axis with uniform angular Velouty W. If the belay Js Composed of particles of masses m), may... then Kinetic energy of rotating body Eg = dmyi+ Amys. As tne Linear velouities of Hu povekteles then fe, = £ (map tmnt -.- )uo® " he Werk in Retotional Motion - Let a tangential Force Fr acts at the rim of pivoted disk. The dise tototes Hrrough a small ‘oy angle dé during « small time at. The work done by the force. Fe while —@ point on the vim moves a chstante | as ts dw = Frds Ty A 48 angular displacement then os = Rd6 ; dw = FRO ET The torque due to the force F) ia T= RR dw = tde Dwing an angulan. displacement fom 6, to 62 the total work clone by the torque 4s 8. G w = fdu >lw tde 6, Ii the torus is cmstant while the angle Changes bu 8; 40 8. ten OE CLC Henw the work done by a Constant torque is the Product of torque and the angular dispheemant. Let T represents the net torque on the bocly So thot tT = 14 /rssuming thet the body is rigicl so that the moment Of imertia I ls comstant, then Td6 = (Ia)do = 1d do = Twaw Hence totel Work done on the rotating body iA Wr w =fiwdw > [we E (wt -0FJ vy : k When a torque cloes work on a rotating body 9 the Kinetic energy changes by an amount equal +o the work clone, Work Energy theorem in RotaHonal Moton- The change in the rotakonal Kinetic energy of a rigid body 2s equal to the Work clone by external torque. we SE, = £10 - £1up Rotational Power - Td Js the power arsotiated with the work done by a tevqut acting om a rotating body. Work done by the torque T aluring Amal obisplacemint de is dw = tae dividing beth side by the time interval at during which the angular displacement occurs, we gt dw 2. td 2 s Set Ta > [LR ste Whe PF 4s instantancons Power Rotational Equilibrium - / A body Gs Bold do be in rotatimal equilibrium 1b resultant torque acting on it ia zewo. &3, In case of beam balance the System will be In rotational equilibrium if Tut =o or Ub = Te Oy Fily = Fla Slipping ; spinning and Rolling AJ SUPP Wan the body slides on a Surface without Yotation Hun iks mohon us Catlel Slipping motion. Friction betwen the booly Q=9 and surface FO v Bocly Possess only tronslatocy —_— Kinetic Energy Kr = mv 24 Spinning - ee When the booly rotates in such a manner that its axis of rotahon aloes not move then ‘ts morion wb Called spinning motion. Tn this condition tre axis of yotaton of 4a body +s fixed. Tn Spinning the. body possess Ondy rotatory Kinetic energy Kr = $ Iw> 2s ov Kr = £m? = bm £) Henee Rotatory KE = x x Tonnsectory Ke. Rolling Motion - When a body persorms combined translatory and Yotatory motion then ut 4a Known aa rolling. The velouty of Centre of mans yepresents linear motion wohile angulan velocity vepresents yotodttry motion. For pw rolling =v = wR By Law of conservation of enngy Totol Energy = Transletory Kinstic Enevgy + Rotatory Kinedie Enurgy Toto] Energy E = Er +Er E sdmv? + dr E = Lmy2 + bmw (2) B 2v Wy Cc D Yu Av=0 Rolling Vtvz2v | vievi = f2Vv errr Energy distibudion table for different Yelling bodies ————___ Body Ke Translatory (Ky) | Rotatory (Kr) Total (Ky) R lie 1 eK? 1. of, K? 2” 7” rol z™ 1s | Ring and 1, 1 > Cylinderical 1 zm zm mv’ Shell Disc and Solid | 1 ieee a Cylinder 2 2 a Solid Sphere a diy? 7 mw Jet? — | : Hollow Sphere | E Lig? 7 m? | Sy? Rolling motion on an inclined Plane - Let a bedy of mans ‘m won and reading ‘R’ roils down on imchmed plane of height ‘h’ and angle ob inclination 6. As the body rolls down its Potertiod ensrgqy Loses and it game Kinetic energy of dreadalection and votato. By Consewation of mechanical enrgy mah = tmv*(4 + =) Velocity at the Lowest Pomt —_—_— 7 Acceleration in moton From egquahon ve = ur4+205 oy subsiding Uso, S=-h— and ve [28h Co sme [+ ke we gat Re gsine 1+ Time of descent - Frm esualon Vvsur+at By Aubatituting U=0 and valut of ‘V’ anda’ we ge ee 2h ts sine Flt +¥] Note - Aj) Hee factor ig 43 Q measure of moment of inerHa. Lesser the moment ok inexnta of the rolling body Jersey will be the value of K7p2. So greater will be. its velocity and acceleration and Sesser will be the time of clestent- 2) From Figure 6, > 0, > 63 A> a> wy tis te

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