f~!

M__ ,5 a ra I
1
1
~ ,_____ ;
2

\
l
Kinematics of Pure rotation motion ...,
Is= I R9

I lvl = Rw I
~
/~--
/ s
e -=--..; ; . ; . .; -=-c....; . .
If a. = constant
v cor= coi + a.t
Radius of Gyration
A~R
CD AOS

i 0)

1. Since distance ben,,een tivo particles 1 [)

of a rigid body remains constant, so the
relative motion of one pa1·ticle w.1:t.
8 = co0 t + - at2
2
fo M KE
'= - 1
I co2
other particle is circular motion.
2. Angular velocity of all the particles about a
given point of a rigid body is same
COr 2 = co/ + 2a.9

9 = (coi + COr) t
L
K =
M
,
sys 2

A,9.R
AOR
M£2
RoG about an axis l=-
(J)
1; 0 = roz; o = ro3; 0 = ro4; 0 = roo 2
1 =0 l/2 l/2 12
3 . This angula1· velocity of a rigid body about 1 I= Ml(2
all the point of rigid body is same. 8 = COrt - -a,t2 AOR
2 Uniform Hollow Uniform Solid
coo; 1 = co2; 1 = co3; 1 = C04; 1 'co' Uniform Ring Dis k Sphe re Sphere
II = ro 0/ of Rotational Motion

*©
AOR
co1; 0 = COz; o = co3; 0 = co4; 0 rigid body R
dm
--=--
Parallel - axis theorem:
A C
Among the given parallel axis MOI about the parallel 2
MR2

ffi
I= MR l=--
MOI will be minimum about axis having same distance 2
the axis passing through COM. from COM is equal. Moving mass parallel to AOR does 2 2
_,
A' d C'
not change moment of inertia.
I= -MR2
3
I = - MR2
5
= I ce + Md2 Perpendicular axis theorem:

EB
:
IAA'

AOR

t
Hollow Cylinder
: .,
AO R
~, AOR

.
Solid Cylinder
AOR Y
iz
M Rin
E g ;B
i
00'
Disk

D W ••• ·-·--·-~· ·- x 8 ·· ······~···· ··· ····8' B·· ····B'

() ' I l b i
•···········•L; ...........• :•-----L-----~
. a : I

MR ML 2 2
MR2 ML2 MR2 ML2 Planar body in (x•y)plane Mb 2 Ma2 A' MR 2
I = -2- +12 I=--+-
2 3
I = -- + -
4 3
I.,= 1, +I,. I, =
12 + l2 IAA,= - -
2

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JEE I NEET I Class 9,10
Angular Momentum of J:'artlcle
Angular Mome ntum of Particle --~ Sarai _
,:Net=
dL
dt
valid only in inertial frame.

or-as v
T : : ; : t ~ ; d e f i n oAm
ro _ dL
=
roA X (mv) ,:Net= dt
= mroA XvO Angular Momentum Conservation Particle I
where Pis linear momentum of the Principle
particle present at A. ldL
L0 is angular momentum about 0 . dL
-Tnet = dt If inet =0 - = Constant
=> L TNet = dt
L=r xi>
AM is also known as moment ofLM. Ifi0 e1 is zerothenitsA.M . is conserved.
I - ILi= m r v s i n 8 - - - - - ~
m(r sin8)v ⇒ L = Constant mr(v sin8)
Rotational Motion Condition of Toppling
!IU = mr.lv! ,. ! 11.l = mrv.l!
F a a
,/--<~ ,v --------· -{ _ x > ~Topplingwillo ccur
r
V Angular Momentum of System of
r.l k{f!~----------· Particles_ '\' _ x = 2 On verge of toppling
0 o v.l= vsin8 L,ys = L., L1 a
r.l is the shortest distance f x < - No toppling
V.lis perpendicular tor 2
from O to line of velocity. r mg
A.M. of Rigid Body Performing Pure
Conical Pendulum Rotation About Fixed Axis
Angular Impulse
AQR
i ~r;;!

CD
L
Lo: m Iv sin90° ie l Lp = m lsin9v sin90° Linear Impulse (f) Angular Impulse (f)

..-····· - mvl / ..--lr,t····· = mvlsin9 f= f Fdt j= f tdt

'··------~r -:../ m (_____ ;=:~> m
(L,,,) ••, - '••··
Unit- Ns Unit-Nms
!

1-J - XI-
;
L0 is not constant but its Lp is constant =r lnet = Lr- L,
magnitude is constant.
Velocity Analysis
------.. Ol
Y2;1
,i saral Kinetic Energy of Rigid Body Performing CRTM
------.. ------.. 0)

v,m
v,m
+ + v,m
V3; 1
v,m
CRTM - Pure rolalion + Pure translation
CRTM = Rotational KE + Translational KE
/~~~;\ + / ;~\
f j + ! v. j KE 1 2
Vl/1 + 2MvcM
\:~) + \~~~/ Combined Rotation + Translational Motion Keypoint
A~ationAnalysis,.-----.!!! For a body performing rolling motion
[CRTM] over a fixed surface, work done by
.,---...,.a .---...,.a
fi friction force on the body will be zero as
Rolling Motion velocity of point of application of
If during the motion, there is no relative friction a lways zero. µ
+
slipping between the points of contact, Angular Mome ntum ofR.B. P e rforming CRTM
then motion is called Rolling. ..---... (J,) .......--..... (1)
CRTM Pure rotation + Pure translation
v==coR V '
+
----> c~ v(m
Dynamics of CRTM V
r cm/ 0, r::.~~-----
For analysing its motion we apply two o•······· o'
equation -------._a L sys / 0 lcmCO + m"icm/ 0 X Yem
I
Rotational as rigid body; Tran!llatlot H a particle
Pure rotation about COM

L,ys/0 = lcm© + mr'cm/ 0 X Yem

"-
L.., "text= la - Ins tantaneous Center of Rotation (IcoJ & Axis of Rotation (IA0 ,.)
DynamicsofCRTM Let at an instant of time velocity of point P is zero.
Second equation is valid in inertial frame. To calculate velocity of other points of rigid body,
To apply second equation about
rigid body can be assumed to perform pure
l ) LF = MacM Z)L'r=la non-inertial poi nt, Pseudo force is
rotation about an axis passing through point P at
appliedatCOMofbody&-r of
that instant. This point is called IcoR and axis
Pseudo force is also taken into
L f•xt= MacM L =iext = Iii account.
passing through it is called IAoR-

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 Cross Produbt . • . . i
-<#Sarai Inertial Pulley

f ,_ .. -
{No slipping of rope on disk}
Calculation of Hinge Force
FH = FJ 11 + FJ.L T 1R - T 2 R = Ia ----(1)

e C=A x B k 1x 1= 0
(Fru_) Perpendicular to rod m 1 g- T 1 = m1 a ----(2)
af
1<=1=1Ailelsin8
8 is angle b/w A& B
jxj=O
kxk=O
L F.L = m(acM)t = ma½ T2 -m2 g
aR = a
= m 2a ----(3)
----(4)
Properties iXj =k t =Ia ~ a ---+ (acM)1 ---+ FH.1
AXB*BXA j X k =i (FH II) Parnllel i_e_ along the rod Work done in terms of Torque
A'.x e = -(ex A) kxi=j
jxi =-ic L F11 = m(acM)n = mw2 ~
W = J Td0 P=-rro
AXA=O k xj =-i W-E Theorem ~ ro ---+ (acM)n ---+ FHII
ixk=-j Force Couple
Torque Rotation Motion /
F
A F - - ~ Condition of Equilibrium
/
ro ~ To= roAXF
/T~= rFsin8
..-------
Translation Equilibrium
'-..
Rotational Equilibrium tF
t A pair of equal & opposite
forces is called force couple.
0 / ~ I~=O
(r sin8)F r(F sin8)
liTI = r.lFI IIT/= rF_d I) IF=O~ I~=O 2) _Li= 0 Torque of force couple is same about any point of
the space.

c::::::_ Iii;=O AqR

I.µ

r
--{ -
F
I Tint= 0
'

..,
a

,-r.ll4~----------·· 0 F.l = Fsin8 If Fnet = 0 on a rigid body then Tnetis

same about every point of space.
(I Text) = (l) AORa
' .
0 F.l is p erpe ndicu lar AOR
'-. Moment Arm component of F Valid only in inertial frame.