Chapter 3: Rotational Dynamics 3.

29

But = 0 , v2 = T2, . . Da = The translational kinetic energy of rod is

Ktranslational K, maP
K=lo
The rotational kinetic energy ofrodis
For a system rotating about a point, we must keep in mind Krotational
that the translational kinetic energy of a rigid body having
Total kinetic energy of the rod is
mass M and centre of nmass velocity Vem is given by
Ktotal Ktranslational t+ Krotational
KransiatonalKr = Mvm
9
and the rotational kinetic energy of the body about its Ktotal ml+mo=>mo»1
24
8 6
centre of mass is
The total kinetic energy of the rod can also be thought
to be the rotational kinetic energy of the rod about the
Ka-len fixed axis. Hence, we have
So, the total energy ofa body in rotation about an axis
can be written as
Ktotal
where Ip is the moment of inertial of the rod about
K=Kg +Kr the axis passing through the point P. According to
parallel axis theorem, we have
ILLUSTRATION 17
A rod of mass m and length I is connected with a p =em t+md =
lem +m
light rod of length 1. The composite rod is made to
rotate with angular velocity o as shown in Figure. ml.

I12+/-gm
Hence total kinetic energy of the rod is
Calculate the translational kinetic energy, rotational
kinetic energy and total kinetic energy of rod.
K .ma't
sOLUTION
MODIFIED wORK ENERGY THEOREM
Translational kinetic energy of rod,
(MWET) AND CONSERVATION OF
mu MECHANICAL ENERGSY
Ktranslational cm
If Wet is th work done by external forces, We is
Velocity of centre of mass is
the work done by non-conservative forces, Ws is the
work done by pseudo forces and Wint is the work
done by internal forces, then according to Modified
3//2 Work EnerEy Theorem (MWET) studied earlier, we
have
P Wat + Wae+Wps +in= AU + AK

However, in the absence of dissipative (non-conservative),

external, pseudo forces, work done by thems is zero and
3.30 JEE Advanced Physics: Mechanics II

if work done by internal forces is zero, then the total (a) What is the angular velocity of the disk when the
mechanical energy of a system is conserved, i.e. particle is at its lowest point?
(6) At this point, what force must be exerted on the
AK+AlU=0
particle by the disk to keep it on the disk?
Ky +u = K; +U
sOLUTION

(U+K)niial= (U+Ktra (a) By Law of Conservation of Mechanical Energy,

we have

LUSTRATIONN1S Loss in Gain i n

A uniform circular disc of mass m, radius R and cen- Gravitational Rotational
tre O is free to rotate about a smooth, horizontal axis Potential Energy Kinetic Energy
which is tangential to the disc at a point A. The disc is of Particle of disc+ Particle
held in a vertical plane with A below O and is then
slightly displaced from this position. Find the angu-
lar velocity of the disc when its plane is next vertical. mg (28)-MR*mR* Ja
sOLUTION 8mg
By Law of Conservation of Mechanical Energy, we V(2m+ M)R
have (b) If F be the force exerted by disk on the particle
Gain in Rotational
(upwards), then
(Loss in Gravitational
Potential Energy of Kinetic Energy of
Centre of Mass Disc about the said
of the Disc Axis of Rotation

Initial Finally
Finaly F-mg = mRo*
Axis-
A
Initially 8mg
O F=m8 ( 2m+ M)
= F="8(10m+M)
(2m+M)
mgh=l
ILLUSTRATION 20
mg(28)-mR mJo 4
ABC is a triangular framework of three uniform rods
each of mass m and length 21. It is free to rotate in its
Own plane about a smooth horizontal axis through
=4 A normal to the plane ABC. Ifit is released from rest
when AB is horizontal and C is above AB, find the
ILLUSTRATION19 maximum velocity of C in the subsequent motion.
A uniform disk of mass M and radius R is pivoted
sOLUTION
so that it can rotate reely about a horizontal axis
through its centre and normal to the plane of the
disk. A small particle of mass m is attached to thee
TAABtaC *Iac
rim of the disk at the top directly above the pivot. The
system is given a gentle start and the disk begins to
m2m(24- 12 m(20+me
rotate. where d= 3
 Chapter 3: Rotational Dynamics 3.31

A =6m
Assume the horizontal line passing through A to be
the zero Potential Energy Level (ZPEL) as shown in
Figure.
Calculate the angular velocity of the rod as the func-
tion of angle of rotation 6 and the maximum angular
displacement of the rod.

---* sOLUTION
B
According to
modified work
have Wext = AU+AK, where
energy theorem, we

B Fext FAr= Flsin

Then initially CG is ( 3 ) above ZPEL and finally

ie., when C attains maximum velocity, the CC is

3 ) below ZPEL. So, in the process the CG has 1-cos 0)

fallen through mg

ht5)-(t5)-t5 sing

Applying Law of Conservation of Mechanical Energy AU is the rise in potential energy of the centre of
we et
mass of the rod, so
Loss i Gain n
Gravitational Rotational Al ms J1-cos0)
Potential Energy Kinetic Energy
AK is the rotational kinetic energy of the rod about
of CG of system
and
rotational axes passing through hinge can also be
called as the totall kinetic energy of the rod, so
(3m)g(«v5)-(6me )a?
AK=lo
So, velocity of C at this instant is
= Flsin6 ="(1-cos)+
6F sin38 (1-cos6) ..(1)
=(2)o= 2yg/v3
At maximum angular displacement, the angular
ILLUSTRATION 21 velocity of the rod is zero. Substituting @=0 in
A uniform rod of and length I is pivoted
mass m equation (1), we get
smoothly at O. A horizontal force acts at the bottom
of the rod. 6F
0 sin6-(1-cos 6)
3.32 JEE Advanced Physics: Mechanics II

SF Please note that in this problem, the radius R was

sin
ml
(1-cos6) not required. Substituting m= 4 kg, M=8 kg,
k 32 Nm and x =1m, we get
- #-)]-{u(9))
ilJ*z(02)017 -(4}(10)1) 0

tan mg
0= 2tan
ILLUSTRATION22
A block of mass m= 4 kg is attached to a spring of
spring constant (k =32 Nm") by a rope that hangs
over a pulley of mass M=8 kg. If the system starts
from rest with the spring unstretched, find the speed
of the block after it falls 1 m. Treat the pulley as a
4+16-40 0
v= 2.4 ms
TOTAL ENERGY OF A BODY IN PURE
ROLLING
When a body rolls without slipping, then it p0Ssesses
simultaneous translational motion (of the CM) and
rotational motion of the entire body. So,
Total K.E. = Rotational KE. + Translational K.E.

disc, so I=
MR? Total K.E. =

E=sleur +~mvx
k
V= ro-(2R}o
00000

JAOR

Vp
Axis normal to the plane of
sOLUTION rolling body and passing through IC

Since the rim of the pulley moves at the same speed

as the block, the speed of the block and the angular E-lo+m2
velocity of the pulley related by v= wR.
When block falls by
the a distance itsx, potential mv
energy decreases, so Au, -mgx, the potential

energy of the spring increases, so Au, =+kx",

both the block and the pulley gain kinetic energy, so
E-(mk*)ar+m(Ro»
AK=m+lo. Applying Law of Conservation E=(mk +mR)o .(1)

of Mechanical Energy, we get

Version
AK+AU = 0,

2- mgx = 0
 Chapter 3: Rotational Dynamics 3.61

ILLUSTRATION 62 To avoid sliding, F< umg

A force F is applied at the top most point of a cylin-
der of radius r and height h as shown in Figure.
mgT F< umg

wORK DONE BY A TORQUE

If a torque i rotates a body through infinitesimal

displacement d6 then the infinitesimal work done is
(a) If the cylinder remains at rest, then find distance dW=-de
of line of action of normal reaction from centre of
mass.
If f and de are in the same direction, then
(b) Find coefficient of friction required so that the dW = rde
cylinder topples before sliding.

SOLUTION W- aw- rd0

(a) Since body is at rest, it is in translational
equilibrium If a constant torque t acts on the body, then
f, = F
W=r(%-4)
W=t A6
STRING CONSTANT (TORSIONALCONSTANT)
AND ENERGY STORED IN A STRING
,-F If a string is given an angular displacement 6
For rotational equilibrium, (measured in radian) then the torsion produced tries
original configuration and
Tnet0 (about centre)
to restore it to its
torque (torsion produced) is directly proportional
this
to Mathematically,
Na -0 f: f =F}
To6
a=n_ Fh T=-CO
"N 18 where, C is called the Torsional Constant or the
(b) For toppling about point O
String Constant of the string. The negative sign shous
that the torque is restoring in nature.
If dW is the infinitesimal work done to give the string
Fh> mg8 an angular displacement 6, then
dW= rdecos (180°) = -tde
F> h

v-Jaw-~ct%-)
If & =0 and 6 = 0, then

mg W-co
3.62 JEE Advanced Physics: Mechanics - |1

LLUSTRATION 63
Auniform cylinder of mass M and radius R, initially
at rest is mounted so as to rotate freely about a hori-
zontal axis that passes through the central axis of the
cylinder. A constant force F acts on the cylinder as
shown in Figure.
TLLUSTRATION 64
A motor rotates a pulley of radius 25 cm at 20 rpm.
Arope around the pulley lifts a 50 kg block, as shown
in Figure. What is the power output of the motor?
sOLUTION
The tension in the rope is equal to the weight since
there is no acceleration. Thus, T = 500 N.

Calculate the angular velocity of the cylinder as it

rotates by an angle of r.

soLUTION
Therefore, t= TR = (500 )(0.25)= 125 Nm.
Work done by a constant force F is W =| rde, where
T= Fr = FR Angular velocity, o =27N
60

@=- 21(20) rads

W=FRd0 =FR| d0= FR 60
The power required is
According to Work-Energey theorem, we have
P= ro=(125Nn )rads-260 W
w- WORK-ENERGY PRINCIPLE
l-FR Icylinder was initially at rest)
According to this theorem, work done by a torque
2FRT 2FRT4FR equals the change in rotational kinetic energy.
T MR?/2 VMR ie. W0tu
4Fr
MR So, in complete analogue to the Work Energy Theorem
studied in Translational Motion, we can say that the

POWER net rotational work done by the is equal to the

The rotational power or simply the Power is defined
as the rate at which work is done by a torque. The SI
unit of power is watt and here too 1
W=1Js
forces
change in rotational kinetic energy of the body.
W.o AKrot
For a rolling body, we have, work done equals the
change in total energY possessed by the rolling

Average Power Pa body. So,

W Wtotal AK =|;mv°-mu
Instantaneous Power P ="=7=7o
dt dt
 Chapter 3: Rotational Dynamics 3.63

MODIFIED NEWTON'S SECOND LAW FOR Further,

FIXED AXIs ROTATION mg-T = ma

Since torque is a rotational analogue offorce, therefore, 1a

Newton's Second Law for rotational motion is given Tg R Ma

by
mg=
netc=m

It is valid in two situations.

(a) The axis is fixed in position and direction.
(b) The axis passes through the centre of mass and is Put this value of a in (1), we get
fixed in direction only.
The equation Tem Iem cm is valid even if the centre
of is
mass
acceleratin8
Special Case
MOTION OF A POINT MASS ATTACHED TO If both the cylinder and the point mass possess equal
A CYLINDER WITH A THREAD m= M and hence,
mass, then
Consider a point mass m attached to a thread wound
over a cylinder of radius R, mass M, moment of T-and a=
inertia M R and radius of gyration k. The
ATWOOD'Ss MACHINE
point mass ascends down with acceleration a and
The free body diagrams of the pulley and the blocks
the cylinder rotates while the thread unwinds. The
are shown in Figure. Note that tensions on two sides
tension in the thread provides necessary torque to the
of the pulley are different. Why? Applying Newton's
cylinder to rotate with angular acceleration a. So,
Second Law on the pulley, we
get

T=7,R-TR-(7i-7,)R
Since, T=la
AOR
t o plane of page) 2

mo me
Front view
mg
Cross Sectional View
m9 vmi9
t= TRsin 90 = TR

Further T= la
Therefore, (T-T2 )R=la

TR=la la ...(1)
R

TR-R Applying Newton's Law on the blocks, we get

T2m28 m2a (2)

T= ...(1)
R m18-1= m,a ...(3)
3.64 JEE Advanced Physics: Mechanics-

Solving equations (1), (2), (3), we get SOLUTION

Mg-T= Ma (1)
a =

Also, T=TR = la
m+2 R?
If the pulley had no mass, then =
T= where I=MR*
I=MR 0 T=Ka
.(2)
a= m2 , Condition of no slipping, a = ar .3)
Solving equation (1), (2) and (3) we obtain
For pulley (generally assumed to be a disc or a
cylinder) a=and T=g
3
I=#MR
2
ILLUSTRATION 66
A thread is wound around two discs on either side.
The pulley and the two discs have the same mass and
( +m2 + radius. There is no slipping at the pulley and no fric-
tion at the hinge. Find out the accelerations of the two
APPLICATION OF NEWTON'S SECOND LAW discs and the angular acceleration of the pulley.

IN ROLLING MOTION

(a) Ignoring Rotation, write Fnet=Macm for the

object as if it were a point-mas.
(b) Ignoring Translation, write as if the
t=lem
object were only rotating about the centre of
mass.
Use of condition i.e. sOLUTION
(c) no slip VemRo or
cmRa Let R be the radius of the discs and T1 and T2 be
the tensions in the left and right segments of the
(d) Solve the resulting equations simultaneously for
any unknown. rope.

ILLUSTRATION 65
A solid cylinder of mass M has a string wrapped
several times around its circumference. The free end
of string is attached to the ceiling and the cylinder is
released from rest. Find the acceleration of the cylin- ng
der and the tension in the string Acceleration of disc 1,

..(0)
m

Acceleration of disc 2,

42 ...(2)
Mg
 Chapter 3: Rotational Dynamics 3.65

Angular acceleration of disc 1, sOLUTION

The forces acting on the system are shown in Figure

==_1R- 2 ..3)
1 R 2 mk
Similarly, angular aceleration of disc 2,

2T2
a
mR
where, both and a are clockwise.
Mg
Applying Newton's Second Law for rotational1
motion, we get

2(TR)= Ia
1

21 R2 (1)
Angular acceleration of pulley,
Applying Newton's Second Law for translational
a-7)R 2(7-7) mR
.5) motion, we get

mR Mg-2T= Ma

For no slipping, Ra -a =42 -Ra = Ra .(6)

Mgpz= Ma
..

Solving these equations, we get

Mg
a=0 and 4 =a2 = M
OBSERVATION
Since, I =MR
Since, both the dises are in identical situation, T =T
a-
and a=0, ie, each of the discs falls independently
and identically. M +
Put this value of a in (1), we get

ILLUSTRATION 67
Find the acceleration and tension in the system T Mg
shown. Assume that the cylinder remains straight
and the strings are same.
ILLUSTRATION 68
The arrangement shown in Figure consists of two
identical uniform solid cylinders, each of
R on which two light threads are wound
mass
M,
radiu
symmetrically. Find the tension of each thread in
the process of motion. The friction in the axle of the

upper cylinder is assumed to be absent.

 3.66 JEE Advanced Physics: Mechanics | I

2a 2Ra
A=Ra+ Ra = =

Applying Newton's Second Law for rotational

motion, we get

T=(2T)R = la

2r- R
.(1)

Applying Newton's Second Law for translational

motion, we get
sOLUTION
Mg-2T M(A)=M(2a)
If a be the acceleration at which the thread from the
upper cylinder is released and A be the total accel-
eration of the lower cylinder, then Mg-2Ma
Acceleration at
Acceleration
f CM which thread
Mg-a= 2Ma
A =|
of lower is being released
cylinder (by upper cylinder Mg =2M

1=2a a n d 2T=
5

Mg
T 10

---

Mg

Test YourConcepts-1V
Based on Torque and Applications
(Solutions on page H.155)
1. A uniform rod pivoted at its upper end hangs in the horizontal plane. Find the angular velocity
of the rod as a function of its rotation angle
vertically. It is displaced through an angle of 60°
and then released. Find the magnitude of the counted relative to the initial position.
on a particle of mass dm at the tip
force
of the 3. The system in Figure is released from rest. The
acting
rod when the rod makes an angle of 37° with the 30 kg body is 2m above the floor and is con
ideal string passing over
vertical. Given, cos(370) = and g=10 ms,
nected through an
disk with radius of 10
the
and
pulley (a uniform a cm

2. A thin horizontal uniform rod AB of mass m mass 5 kg) to another body of mass 20 kg. Find
and length l can rotate freely about a vertical the speed of the 30 kg body just
before it hits
the
the
fixed axis passing through its end A. At a certain floor and the angular speed of pulley at that
time, the tensions in the strings and the time it
moment the end B starts experiencing a constant
force F which is always perpendicular to the orig takes for the 30 kg body to reach the floor.
inal position of the stationary rod and directed
3.80 JEE Advanced Physics: Mechanics - II

What are their speeds at the bottom?

(a)
(b) Find the frictional force f in each case.
is tied to a string which is wrapped around a disk
capable of rotating about a horizontal axis. The
(c) If they start together at t=0, at what time disk has a mass M=5 kg and a radius R=0.2 m
does each reach the bottom? Initially the string is taut. If the mass is released,
7. A Yo-Yo of mass M has an axle of radius b and calculate its acceleration. Take g 9.8
a spool of radius R. Its moment of inertia can be
=
ms
taken to be The Yo-Yo is placed upright on
a table and the string is pulled with a horizon-
tal force F as shown. The coefficient of friction
between the Yo-Yo and the table is a. What is the
maximum value of F for which the Yo-Yo will roll 30°
without slipping?
10. Find the acceleration of the cylinder of massm
and radius R and that of plank of mass M placed
on smooth surface if pulled with a force F shown
in Figure. Given that sufficient friction is present
betweencylinder and the plank surface to prevent
sliding of cylinder
8. A cylinder of mass M and radius R is lying on a
rough horizontal plane. It has a plank lying at its
top as shown in Figure. A force F is applied on
the plank such that the plank moves and causes
to rol. The plank always remains
the cylinder
horizontal. There is no slipping at any point of
11. A ball
contact. Find the acceleration of the cylinder and of mass m and radiusr
of radius R. Its
rolls along a
cir
the frictional forces at the two contacts. Cular path speed at the bottom

(0=0) of the path is vo Find the tangential and

the normal force exerted by the path on the ballas
a function of .

9. A block of mass m=1kg slides down the surface

of a smooth incline as shown in Figure. The block

CASE-1: Angular Momentum of a Particle About

ANGULAR MOMENTUM(0) Some Point
The rotational effect of linear momentum is called Angular Momentum, L of a particle about an arbi-
Angular Momentum. When a body rotates about trary point O is the moment of linear momentum
some point/axis, then the momentum associated taken about that point.
with the body due to its rotation is called Angular
Distance of
Momentum. An external torque is required to change
angular momentum just like an external force is
LMomentum p from O

required to change the linear momentum. L=

 Chapter 3: Rotational Dynamics 3.81

in magnitude) CASE-3: Angular Momentum of System in

L=prsin8
where r = rsin 6 is called the moment arm. Combined Rotation and Translation
If a body is in combined rotation and translation like
Vectorially rolling and we are asked to find the angular momen-
tum of the body about any fixed point ora reference
L=fxp point, then
L=m(7xö)
If f=xi +yj + zk and õ = v,i +o,j +Dk, then
LtaLe tM(a x®aN)
i.e., total angular momentum of system/body is
equal to the sum of the angular momentum of the
CM about that point and the angular momentum of
L=m* y the system about the CM
So, for a rigid body undergoing linear and rota
tional motion, the total angular momentum may be
The direction of L is also found by Right Hand split into two parts
Thumb Rule.
= mv (a) the orbital angular momentum, Lo and
(b) the spin angular momentum m
The orbital angular momentum is the angular
-
momentum of the centre of mass motion about an
rsine- origin O in an inertial frame.
The spin angular momentum is the angular momen-
The SI unit of angular momentum is kgms tum relative to the centre of mass.
Please note that angular momentum is defined The orbital term treats the system as a point
always with respect to a point. particle at the centre of mass, whereas the spin term is
CASE-2: Angular Momentum of a Rigid Body the sum of the angular momenta of the particles rela-
Rotating About a Fixed Axis tive to the centre of mass. The total angular momen-
The total angular momentum L of a system of parti- tum relative to the origin O in an inertial frame is the
cles relative to a given origin is the sum of the angular sum of both the angular momenta i.e.,
momentum of the particles.

ILLUSTRATION79
Aparticle of mass mis projected from origin O with
m
-4-*
speed u at an angle 6 with positive r-axis. Positive
yaxis is in vertically upward direction. Find the
angular momentum of particle at any time t about
O before the particle strikes the ground again.
A rigid body rotating about a fixed axis

L=2(7xP)
V
Since and j are perpendicular, so

L= ~iPi, where p = m0, = mro D

L = I o , where I= 2m,r*
3.82 JEE Advanced Physics: Mechanics - II

sOLUTION

L=ml7x5)
R2 R
Here, 7(t)si+yj =
(ucose)i-utsin-g}
and 5(t)= v,i+n,j=(ucos0)i (usin8-st)i
+

$OLUTION

The moment of inertia of the disc about the given axis

L=m(Fxö)=m|(u cos)t (usin 6)t- may be found from the parallel axes theorem, equa-
u cos u sin8-gt tion I= lm + Md", where h is the distance between
the given axis and a parallel axis through the centre
of mass.
i-m(ucos 0)gt?k
Here h=therefore, I=MR?+M-MR
ILLUSTRATION 80
Asolid sphere of mass M and radius R rolls without
slipping on a horizontal surface as shown in Figure. The angular momentum is L= lo=MR°
Find the total angular momentum of the sphere with
respect to the origin O fixed on the ground. RELATION BETWEEN L AND T
As
force changes the momentum of a particle,
linear
torque changes the angular momnentum of a particde.
Since, L = Fxp
1
The rate of change of angular with time is found by
taking the derivative on both sides of (1) with respect
soLUTION to time. So
Let us assume the clockwise sense of rotation
Orbital angular momentum about O is Lo = MuR
positive
Spin angular momentum about centre of mass is

Ln loMR UsingAx®)= x3, we get

The total angular momentum is

L=lo +n = MuR +MoR

5
= Fx+Bxp
For pure rolling, we have v= oR

L=M»R dx +mlöx5) =mõ}

Since, 8xD=0
1LLUSTRATION81
A disc of mass M and radius R rotating at an angu-
lar velocity o about an axis perpendicular to its =FxF=7
dt
R
plane at a distance from the centre, as shown in
the angular momentum of the disc dt
Figure. Calculate
about the axis shown.
 Chapter 3: Rotational Dynamics 3.83

ILLUSTRATION 82 If D =0 and v =v, then we have J = mv

i dL be applied to the
Show that the equation
motion of a projectile.
dt
can

Just like translational the impulse momentum

soLUTION theorem in translational motion, we have angular
The change in angular momentum of the projectile impulse angular momentum theorem in rotation
is produced by the torque exerted by the force of according to which angular impulse equals the
change in angular momentum of the body and hence
gravity.
In Figure, we take the initial point as the origin. At a AL
Angular Impulse (AI) =
tAt =

later time, Y = xi +yj = Al= zAt =

AL =Ly -L4=i(»/ -a)

Since, T= Fr

T Al= (Frn )At = jri f: FAt 1}

Al=JhLy-4=l(° -o)
If L, =0, then Ly =L= lo
Since the force on the particle is F=-mgj, the gravi-
tational torque on it is Al = J = lo

F- zi+yi )x(-mi) -mgzk

The rate of change of the angular momentum In Figure (a): A linear impulse J is applied at centre
L=7xp is of mass C of the rigid body.

av
x m mrX- t

But the acceleration i s = -8i.So,

(a)
ad m x
dt =m(xi*yi)x(-si)--(mg»)E Just after hitting, it will have only translational
motion and its linear velocity will be given by
Hence the equation F= is applicable here.
m

In Figure (b): A linear impulse J is applied at point P,

ANGULAR IMPULSE at a perpendicular distance r = CP.

In complete analogy with the linear momentum,

angular impulse is defined as

al-d
Since we know that linear impulse equals the
(
D)
change in linear momentum, so we have
Just after hitting it will have both translational and
j= Fat = ap=m(5, -k0) rotational motion. Its linear velocity v and angular

In one dimension, we can simply write this as

velocity o will be given by

J= Ap =Ps -Pi =m(s =D) v=Z and o=

m
3.84 JEE Advanced Physics: Mechanics -I1

If is increased (keepingJ to be constant) thenv will LAW OF CONSERVATION OF ANGULAR

remain same but o will increase. So, the translational MOMENTUM
kinetic energy will have the same value but rotational
kinetic energy will be more. Since, by definition we know that

Problem Solving Technique(s) ..(1)

dt
Since, Angular Impulse (Al) = zat = al
For no external torque acting on system, we have
Now, following three cases can be considered.

(a) If torque is constant, then angular impulse (Al)

is obtained by directy multiplying this constant So, (1) gives
torque with the given time interval.
(6) If torque is a function of time, then angular
dt
impulse (Al) is given by
i = constant (both in magnitude and direction)
So, for no external torque acting on the system L is
Angular Impulse (Al)= | rdt conserved both in magnitude and direction.
This law is the rotational analogue of the Law of
(c) If torque versus time graph is given, then angular Conservation of Linear Momentunm.
impulse (Al) can be obtained by the area under
that graph. If no extemal torque
acts on system, then
In all three cases, angular impulse is equal to the T=0
change in angular momentum.
Lis conserved both in
ANGULAR IMPULSE-ANGULAR magnitude and direction
MOMENTUM THEOREM
This theorem is the rotational analogue of the Impulse
Momentum theorem studied already in Newton's
Laws of Motion. Using Newton's Second Law for lo=constant mv mv2/2
L8|||system
Rotation Motion, we have FL0, = ) |vrsiné =constant||specitiedabouto=2myi
AOR 2myi
Pecned
AOR

Analogy between Rotational and Linear Dynamics.

dL= tdt
Quantity Linear Rotational
al=i,-L =|( -)=| zdt
1. Inertia m or
The net angular impulse acting on a rigid body is
equal to the change in angular momentum of the
body. This is called the Angular Impulse Angular
Momentum theorem for rotational dynamics.
Pam
Please be careful to understand and see the
2. Newton's Fextma Textla
hidden fundamental of the axis of rotation i.e. all 1 Second
be about identical AOR to use the Law
L and f must
results as
they are. Else suitable modifications have to
be made in the results.
(Continued)
 Chapter 3: Rotational Dynamics 3.885

(b) The kinetic energies before and after the collision

Quantity Linear Rotational
are
3. Work
W-FdT Ko-16
Kinetic
Energy Kin 2
m
The change is AK = K, -K; = -6J.

5. Work In order for the two discs to spin together at the same
Win= AKin WrotAKot
Energy rate, there had to be friction between them. The lost
Theoremn
kinetic energy is converted with thermal energy
6. Impulse
I-Fdtap-- ILLUSTRATION 84
Aman ot mass m = 80 kg runs at a speed u = 4 ms
7. Momentum P=t L= lo along the tangent to a disc-shaped platform of mass
M=160 kg and radius R=2 m. The platform is
8. Impulse initially at rest but can rotate freely about an axis
Momentum through its center. Take I=MR
Theorem

9. PoweT P=R
P=F5

LLUSTRATION 83
A disc of moment of inertia 4 kgm* is spinning
freely at 3 rads". A second disc of moment of iner-
tia 2 kgm slides down the spindle and they rotate Calculate the angular velocity of the platform after
together the man jumps on. If the man now walks to the cen-
tre, then calculate the new angular velocity. Treat the
(a) What is the angular velocity of the combination? man as a point particle.
(b) What is the change in kinetic energy of the
system? sOLUTION

soLUTION Before trying to attempt this problem let us have a self-

(a) Since there are no external torques acting, we may
apply the conservation of angular momentum.
(6 kgm)a, =(4 kgm? )(3 rads)
Thus, =2 radsz
analysis done and answer the following questions.
Q. Can we apply the conservation of linear
momentum?
A. No,it cannot be applied because the axle exerts an
external force on the system i.e. man+ platform.
Q. Can we apply the conservation of angular
momentum?
A. Yes, since the axle does not exert any torque, we
may use the conservation of angular momentum.
Q. Can we apply conservation of kinetic energy
for the collision between the man and the
platform?
A. No.

Let us consider the origin to be at the centre of

platform. When the man runs in a straight line along
3.86 JEE Advanced Physics: Mechanics II

the tangent, then his initial angular momentum about

this origin is L=p, where r= R so V
L = muR

After he jumps on, one must take into account his

contribution mR< to the moment of inertia. The final UZ *U4-R*U4
angular momentum, L = lo, is,
(a) Determine the angular velocity o in terms of V

Ly-MR+mk* Jo and L
(b) If the insect reaches the end B when the rod has
turned through an angle of 90°, determine V.
By Law of Conservation of Angular Momentum,
have Ly = Li, wo
we

sOLUTION
mu
In this problem we will denote angular momentum
(+mR by its standard symbol H because L has been used
for length of the rod.
Substituting m=80 kg, M=160 kg, u= 4 ms",
R=2 m, we get M

@=7 (80)4 =1 rads

(160802 L/2 L4 L4
Just before collision Just after collision
When the man reaches the center, his contribution
to the moment of inertia is zero. The final angular Angular momentum of the system (rod + insect)
momentum and the initial momentum in this case about the centre of the rod O will remain conserved
are given by just before collision and after collision i.e., H, = Hf

MRk Jay =640kgm MV

Ly= -320 MV=M'o

8

Applying angular momentum conservation Ly =Li 2 V

we get
7 L
.1)
= 2 rads Due to the torque of weight of insect about 0, angu-
lar momentum of the system will not remain con-
Served (although angular velocity o is constant). As
ILLUSTRATION 85 the insect moves towards B, moment of inertia of the
A homogeneous rod AB of length L=18 m and
system increases, hence, the angular momentum of
mass M is pivoted at the centre O in such a way
the system will increase.
that it can rotate freely in the vertical plane (shown in
Let at time t the insect be at a distance x from O and
Figure). The rod is initially in the horizontal position.
by then the rod has rotated through an angle 6. Then,
An insect S of the same mass M falls vertically with
angular momentum at that moment,
speed V on the point C, midway between the points
O and B. Immediately after falling, the insect moves
towards the end B such that the rod rotates with a
constant angular velocity o.
 Chapter 3: Rotational Dynamics 3.87

dH2MO* dt
dt o-constant
ax
T2Mwx
at
VCM

Mgxcos =2Mox dt pt FE

d - 0 cos dt Just before impact During impact Just after impact

dx d63 cos6 For Rod

d9 dt 20
me-0= Ft
d6cos
20 From (1) and (2), we get

mv- mu=man
cos
20
6d mu = muam +mo
.3)

Total Initial Total Final

Momentum of=|Momentum of
Ball+Rod Ball+Rod
sin20
The total linear momentum of Ball + Rod system is
Conserved.
Using Angular Impulse - Angular Momentum

Theorem, we get
Substituting in equation (1), we get
For Ball

(mv)-(mu)l= -rt

mv)1-(mu)l= -(FI) ..(4)

V2gL =2x10x18 =3.5 ms IZ

For Rod

lw-0= (FI)D ...)

V=3.5 ms From (4) and (5), we get

BALL ROD coLLISIONS (mv)1-(mu)l = -lo

Consider a uniform rod AB of mass M, length L. Let (mu)l = lo+(mo)!

a ball of mass m moving with initial velocity v, hit Total Final1
the rod at a point P (other than centre of mass of the Total Initial
Angular Angular
rod). Now two cases arise.
Momentum Momentum
CASE-1: When the Rod is not Hinged (of Ball + Rod of Ball+ Rod)
For Ball
So, the total Angular Momentum of Ball + Rod is
mo- n1u=-- Ft ..1) conserved.
3.88 JEE Advanced Physics: Mechanics - |I

So, if the rod is not hinged, then we observe both

linear and angular momentum of Rod + Ball to be
conserved.

Subcase-1(a)
If the collision is elastic, then we have

(TotalInitial Energy(Total Final Energy

of Ball+Rod of Ball +Rod
B
Just before impact During impact Just after impact

Subcase-1(b)
Subcase-2(a)
If collision is inelastic
If the collision is elastic, then we have

e- ]
(42 )-(h )a Ja the point of impact mo-m~io
Subcase-2(6)
If the collision is inelastic, then we have

(Net velocity of rod at P will be vem +lo, as it is

under combined influence of translation and rotation. 2),-\41)n Jat the point of impad
Subcase-1(c e - 0 -

For perfectly inelastic collision, we have

e= 0 Subcase-2(c)
If the collision is perfectly inelastic, then
D=Vem+l
e=0
CASE-2: When the Rod is Hinged
v=lo
For Ball
Using Impulse Momentum Theorem, we get
mu-mu =-Ft .()
DLLUSTRATION86
Arod AB of mass M and length L is lying on a horizontal
Momentum frictionless surface. A particle of mass m travelling along
Using Angular Impulse Angular the surface hits the end 'A' of the rod with a velocity to
Theorem, about hinge, we get
in a direction perpendicular to AB. The collision is elas-
(mv)1-(mu)l= -rt= -(Fl)t (2) tic. After the collision the particle comes to rest.
For Rod (a) Find the ratio
Momentum M
Using Angular Impulse Angular
Theorem, about hinge, we get (b) Apoint P on the rod is at rest immediately after
collision. Find the distance AP.
lo-0 (FI)* ..) (c) Find the linear speed of the point P aftera time
From (2) and (3), we get TL after the collision.
(mu)l= {mv)1+ Iw labout Hingel 3V
So, if the rod is hinged, then only angular momen sOLUTION

tum is conserved only about the hinge because (a) Let just after collision, velocity of centre of mass
r due to the forces acting on the hinge about the of rod is v and angular velocity about centre of
hinge is zero. mass is w. Applying following three laws
 Chapter 3: Rotational Dynamics 3.89

t=M
ML
CM CM X
_L

AP-
After collision
Before collision

() External force on the system (rod + mass) in

AP-L
horizontal plane along x-axis is zero. (c) After time t=
Applying Conservation of Linear 30
Momentum in x-direction.
mv, = mv
()
(i) Net torque on the system about CM of rod is
2ero

Applying Conservation of Angular

Momentum about CM of rod, we get

angle rotated by rod, 0= t = Odg L

mu ML 3v

MLo 2)

(i) Since, the collision is elastic, kinetic energy

2
is also conserved. So,
Therefore, situation will be as shown below:
So, resultant velocity of point P will be

mu, =M+ .3)

From equations (1), (2) and (3), we get the follow- 1

ing results

M4U Mand ML ILLUSTRATION87

6) Point P will be at rest if xø=v
A rigid massless rod of length L joins two particles
each of mass m. The rod lies on a frictionless table,
and is struck by a particle of mass m and velocity vo»
moving as shown. After the collision, the projectile
moves straight back.
3.90 JEE Advanced Physics: Mechanics II

Find the angular velocity of the rod about its centre (a) Describe quantitatively the motion of the system
of mass after the collision, assuming that mechanical after the boy is on the plank. Neglect friction
energy 1s conserved. with the ice.
(b) One point on the plank is at rest immediately
sOLUTION
after the collision. Where is it?
Applying Law of Conservation of Linear Momentum,
sOLUTION
we get
Let C be the centre of mass of boy plus plank. Let C
be at a distance r from the end where the boy steps
.(1) on the plank, then
Applying Law of Conservation of Angular
Momentum about centre of mass C of light rod and mc0)-M[
the two identical particles, we get m+M

( BC=x=

o 2Lo-v2 2
Since the mechanical energy is conserved so, the col-
lision is elastic, hence e=1 at point of impact along
common normal direction

(Relative Speed(RelativeSpeed mOHe

of Approach ofseparation
So, distance of centre of mass C from the middle of

--) the rod (O) is

L
...8) oc--
Applying the Law of Conservation of Linear
Solving equations (1), (2) and (3), we get Momentum, we get

(M+m)v= muo
7L
1)
ILLUSTRATION 88 Applying the Law of Conservation of Angular
A boy of mass m runs on ice witn velocy o Momentum about point C, we get
steps on the end of a plank of length I and mass M
which is perpendicular to his path. mog BC) =system

mMup!
2(M+m)

MI12

---- I. Substituting M+m D from equation (1), we get

 Chapter 3: Rotational Dynamics 3.91

M)
6 M+m
Now, we have the plank divided in two portions
(a) White portion, below C till the end B.
(b) Grey shaded portion, above C till the end A.
mo
Since v i sactually the velocity ofcentre of
SOLUTION
mass of boy plus plank and so every point of the boy+ is free to rotate but not free to trans
forward
System
plank system has a velocity v.
late. During collision, net torque on the systemn
However, the lower white portion has a tangential rod A+rod B+mass m) about point P ie., hinge
velocity ro where r is measured from C to B. This is zero, so angular momentum is conserved about P.
ro is forward and so we cannot expect the resultant If o be the angular velocity of system just after
of v and rø both forwards to be zero.
collision, then

mo(21)= lo
0=0

JB

However, in the upper grey portion, all points move

forward with velocity v butsimultaneously the
upper
grey portion has a tangential velocity backwards.
Now wherever (say the point P) the forward veloc

ity v
equals the backwards tangential velocity x o
(where x is the distance of point P from C), then at where, Iis the moment of inertia ofsystem about P, so
that point net velocity is zero, so

Given
ay'G-
I 0 . 6 m, m = 0.05 kg,
)
mA = 0.01 kg and

mg =0.02 kg.
BP = BC+x
Substituting the values, we get

+4m+ M-2 I= 0.09 kgm

BP=M+m M+m3
Therefore, from equation (1), we get
ILLUSTRATION 89 2mol(2(0.05)(v)(0.6)
Two uniform rods A and B of length 0.6 m each
O.09
and of masses 0.01 kg and 0.02 kg respectively are
rigidly joined end to end. The combination is pivoted =0.67 v (1)
at the lighter end, P as shown in Figure, such that it Now, after collision, mechanical energy will be
can freely rotate about point P in a vertical plane. conserved.
A small object of mass 0.05 kg, moving horizontally, Increase in

Therefore,(Decrease
hits the lower end of the combination and sticks to it. in
GPE of CM
What should be the velocity of the object so that the RKE
of both Rods)
system couldjust be raised to the horizontal position?
 Chapter 3: Rotational Dynamics 3.93

ILLUSTRATION 92 For disc 2, we

get
Two discs of radii R and 2R are pressed against each
other.Initially dise with radius R is rotating with s(2R dt=21
and another disc was station-
angular velocity o
ary. Both discs are hinged at their respective centres 2(-)= 2la2
and free to rotate about them. Moment of inertia of +@2
smaller is I and bigger disc is 21 about their respec-
20, +@ = @
tive axis of rotation. Find the angular velocity of the
bigger disc after long time.

ILLUSTRATION 93
A uniform rod AB of length 2 and mass 2m is sus-
pended freely at A and hangs vertically at rest when
of is fired horizontally with speed
SOLUTION
a
particle mass m
v to strike the rod at its mid-point. If the particle is
Let R, R, be the horizontal and vertical components brought to rest by the impact, calculate the impulsive
of the reaction offered by the first hinge to the
pulley reaction atA, the initial angular speed
of the rod and
and Rz, R be the horizontal and vertical componentss the maximum angle the rod makes with the vertical
of the reaction offered by the second hinge to the in the subsequent motion.
pulley. The only force which is producing any torque
sOLUTION
about the centre of first disk is friction as shown in
At the instant of collision, if impulsive reaction at
Figure.
A is J and impulse between
particle and rod be Ju
then we have

N
mg

Let the disc rotate with angular velocity and o

as shown in Figure.
2 m

by impulse-momentum theorem

and by angular impulse-angular momentum theorem

Since v is same at the point of contact, so we have
= Zm (2/)
R= 2 (2R)

=
8m 8I
Now, total angular impulse provided by the friction For rod, we have
is equal to change in angular momentum of the disc.
So, for disc1, we get h-J= 2m(lo)

Rat=1(0-) I-h-2m9*
3.94 JEE Advanced Physics: Mechanics 11

If rod gets displaced by an angle before coming to

rest, then by law of conservation of energy, we have
m =mo' +
Mio ...(1)
Since collision is elastic, so we have
lomgh
U -0 ..(2)
2m2 2mg(1-cos) From equations (1) and (2), we get

cos=l--32 mv = w'+M(D+o')(2)

13 mv-

v'=m=4M
TLLUSTRATION 94 3m+4M
A thin uniform square plate with side I and mass From, equation (2), we get
M can rotate freely about a stationary vertical
axis coinciding with one of its sides. ball -or) 14 3m-4M)
A small
mass m flying with velocity v at right angles to the
of 3m+4M
plate strikes elastically at centre of the square plate. 12mv
Calculate the velocity of the ball v' after the impact
and the horizontal component of the force which the
1(3m+4M)
axis will exert on the plate after the impact. Force due to axis on the plate is

sOLUTION F
72Mm
I(3m+ 4M
Applying conservation of angular momentum, we get

omGJ:o

VTest Your Concepts-VI

Based on Angular Momentum and Its Conservation
A small ball is suspended from a point O by a
1. light
thread of length . Then the ball is drawn aside
so that the thread deviates through an angle 6
from the vetical and set in motion in a horizon-
tal direction at right angles to the vertical plane
in which the thread is located. What is the initial
velocity that has to be imparted to the ball so that
it could deviate through the maximum angle of
3.
with the vertical in the process of motion?
A uniform rod of length L rests on a frictionless
horizontal surface. The rod is pivoted about a
fixed frictionless axis at one end. The rod is initially
at rest. A bullet travelling parallel to the horizontal
(Solutions on page H.162)
surface and perpendicular to the rod with speed v
strikes the rod at its centre and becomes embed-
ded in it. The mass of the buliet is one-sixth the
mass of the rod.
(a) What is the final angular velocity of the rod?
(b) What is the ratio of the kinetic energy of thee
system after the collision to the kinetic energY
of the bullet before the collision?
A wheel of moment of inertia I and radius R is
rotating about its axis at an angular speed
It picks up a stationary particle of mass m at its
Find the new angular speed of the wheel.
edge.
3.96 JEE Advanced Physics: Mechanics - II
12. A uniform rod of mass m and length e rests on a
smooth horizontal surface. One of the ends of the
rod is struck in a horizontal direction at right angles
to the rod. As a result, the rod obtains velocity V
Find the force with which one half of the rod will
act on the other in the process of motion.
13. A rod of mass M, length& lies on horizontaltable
and is free to move on the table. A ball of mass m,
moving perpendicularly to the rod at a distance
d from its centre with speed v collides elastically
with it as shown in Figure. What quantities are
conserved in the collision? What must be the masS
of the ball so that it remains at rest immediately
after collision?
ROLLING WITH SLIPPING(vo Rwo)
CASE-1:
When, v,> Ra
Since v> Ry, so the point P has a tendency to slip
forward and hence sliding friction (later on called as
friction) acts backwards as shown.
PZ =0.10
Finally at time t
Initially att=0
(Pure Rolling)
ROLE OF FRICTION
Since fis acting opposite to vo, therefore it will have
a tendency to decrease vo Also, when f acts back-
wards then it will provide a torque that will be acting
in the clockwise sense and hence will have a tendency
to increase ie, at some later time, t (say), we can
have v=rø
Since, vo > R@% at t=0)
14. A uniform rod AB, of mass m and length 4a, is
smoothly pivoted at a point O of its length, where
AO=a and hangs at rest in equilibrium position
with A above pivot O. A horizontal impulse of
magnitude J is imparted to the rod at its centre of
nass. Find the initial angular velocity of the rod. If
the rod describes complete revolutions in the sub
sequent motion, find an inequality for J in terms
of a, m and g.
15. A smooth rod rotates freely in a horizontal plane
with the angular velocity a about a stationary
vertical axis O, relative to which the rod's moment
of inertia is I.A small ring the mass m is located
on the rod close to the rotation axis and is tied too
it by a thread. When the thread is burned, the ring
starts sliding along the rod. Find the velocity v,
of the ring relative to the rod as a function of its
distancer from the rotation axis.
So, to attain v= Ro at some later time t, f must be
directed such that the role of f is
(a) to decrease vo to v (say)
(6) to increase a to o say)
such that at t, we get v=R» (condition for pure
rolling)
From impulse momentum theorem and angular
impulse angular momentum theorem, we get
mU-mU-jt .(1
To-la +tt =(jR) .2
But at t, we have
= Ro ..3)
So, we use (1), (2), (3) to get the desired results. Also,
work done by friction equals change in KE, so
(4)
@ K