CHAPTER DYNAMICS OF ROTATIONAL MOTION AND. STATIC EQUILIBRIUM After learning this lesson the student be able to = formulate Newton law on rotation motion and use it in solving problems = use moment inertia for various forms of rigid body - formulate the law of angular momentum conservation on rotary motion and use it in solving problems = apply the concept of weight point of body in everyday life Accelarated Uniform Cirular Motion In Uniform Circular Motion, distance s= 0 R, car velocity = oR In Unifore Circular Motion which is accelerated, the object has tangential acceleration a, = a R 8-8, +wot+ sat = Oy + at we @? + 208 THE ROTATION OF RIGID BODY Torque or Moment of Force (1) ‘A rigid body can moves in rotation if on the body is applied a force that is not passing through the center of body ‘mass (axis). The foree that can cause a body to rotate is called torque. Ait ofan Force clot tans of ion: aot very Force tnt tom tovnrd ani of We know that forces acting on a body can affect its translational motion—that is, the motion of the body as a whole through space. Now we want to learn which aspects of a force determine how effective it is in causing or changing rotational motion. The magnitude and direction of the force are important, but so is the point on the body where the force is applied. In Figure above, a wrench is being used to loosen a tight bolt. Force F» applied near the end of the handle, is more effective than an equal force F, applied near the bolt. Force F. doesn’t do any good at al; it’s applied at the same point and has the same magnitude as but it’s directed along the length of the handle. The quantitative measure of the tendency of a force to cause or change a body's rotational motion is called torque: we say that F, applies a torque about point O to the wrench in Figure, Fs applies a greater torque about 0, and F. applics zero torque about 0. is ‘The perpendicular lever arm r is the shortest distance from the pivot point to the line along which F acts,@ Frio where r (the Greek letter tau) is the symbol for torque, forque ( N.m) « if the torque makes the clockwise movement ifthe torque makes the counterclockwise movement perpendicular lever arm or moment arm (m) ‘r=a position vector from a chosen point 0 to the point of application of the force (m) the angle between F and the vector directed from the point of application to the pivot point F> force vector(N) On a rigid body, it can be applied several forces, so that the torque is the resultant of each torque which acting upon the body, then the total magnitude of torque on the body is: t= F.r- sin 0 Ex : (a) A man applies a force of }00.N at an angle of 60,0° to the door of Figure, 2.m from the hinges. Find the torque on the door, choosing the position of the hinges as the axis of rotation. (b) Suppose a wedge is placed 1.50 m from the hinges on the other side of the door. What minimum force must the wedge exert so that the force applied in part (a) wont open the door? Hinge = 600° Ne oO = Tae Answer (a) Compute the torque due to the applied force exerted at 60.0°, Substitute into the general torque equation: ‘t= rF sin 0 = (2 m)(300 N) sin 60° = (2.00 m)(260}= 520Nm (b) Calculate the force exerted by the wedge on the other side of the door. Set the sum of the torques equal to zero: Taine * Eroige + =O Hinge 200 ‘The hinge force provides no torque because it acts atthe axis (r= 0), The wedge force acts at an angle of -90.0°, opposite the upward 260 N component 0+ Foige (1.50 m) sin (-90.0°) + 520 Nm = 0 Frycige = 347 N Exercise 1 Find each torque of these forces and the net torque through point O? Ans, -30.N.m 2. Find each torque ofthese forees and the net torque through point ©THE MOMENT OF INERTIA In the rotation motion, the quantity to express the measure ofa body inertia which is analogue with mass is moment of inertia, Moment of inertia of a particle is defined as the product of multiplication between particle mass and square of particle distance to its axis. Mathematically, itis expressed as I=mr? Where: I = the particle’s moment of inertia (kgm ) m= the mass of particle (ke) 1 particle distance to its axis (m) If a rigid body is assumed as a system of particles, itis constructed by many separated particles with different mass, then to determine its moment of inertia is by multiplying the mass of every particle with its square distance from its axis then the result is summed, P+ myn? + ms The equation can be expressed as: Ii Below are the examples of several moment of inertia of rigid body Common Moments of Inertia THE PARALLEL AXIS THEOREM. ‘Suppose a body of mass m is rotated about an axis z passing through the body's center of mass. The body has a moment of inertia Ln with respect fo this axis. The parallel axis theorem states that if the body is made to rotate instead about a new axis 2’, which is parallel to the first axis and displaced from it by a distance d, then the moment of inertia J with respect to the new axis is related t0 Jem bY Lion +md? Explicitly, dis the perpendicular distance between the axes z and 2’ Jan = the moment of inertia when center of mass become the rotation axis Example:‘The solid cylinder with 5 kg in mass and radius of 10 em can rotate on a horizontal axis. A string that has neglectable mass is wrapped on the cylinder. Then the end of the string is pulled with a constant force of 30 N. If the mass of axis and friction between axis and its rotary place are neglectable, determine: a, angular acceleration of solid eylinder b. angular velocity of solid cylinder after rotating in 2 second and c. the angle travelled by solid cylinder in 2 second Solution: kg I= Umer’, Oem, F = 20N a Angular acceleration of solid cylinder anne 8 OO pals mr? son ae b.Angular velocity of solid cylinder after 2s the equation of rotation is ©, =0, + a= 0 + 80, 2= 160 radis The angle travelled by solid cylinder in t = 2s OH 0,+ost Sat? = 0-+0,5802°= 160 rad MOMENT OF COUPL 5 (COUPLE ) ‘I ¢ |; The moment of a couple is defined as the product of either of the forces of a couple and the perpendicular distance between the line of action of forces. The perpendicular distance between the two forces is called the arm of the couple. M= Where : M. = moment of couple (N.m) F = force (N) d_ = the arm of the couple (m) NEWTON'S LAW IN ROTARY MOTION F According to Newton’s law then F = m.a,, because a= aR , then F=m, aR Ifboth side, we multiply by R, then it becomes F.R=m. R?, a ‘Then we get r=. @ Because rotation dynamics is analogous with translation dynamics, then in rotation dynamics, we also can apply Newton 2™ law Br=La ‘The strategy to solved problem 1. sketch the condition of problem 2. drawing force which work on the object. You must sure that it include all the forces. 3. Use 2F=ma for linear motion Use Ex = I. « for rotary motion 4. substitute rope tension T into equation Ex = 1. Exercise3. A solid, frictionless cylindrical reel of mass M = 3 kg and radius R =0.400 m is_used to draw water from a well (Fig, below). A bucket of mass m =2.00 kg is attached to a cord that is wrapped around the cylinder. (a) Find the tension 7’ in the cord and acceleration a of the bucket. (b) If the bucket starts from rest at the top of the well and falls for 3.00 s before hitting the water, how far does it fall? Ans. 5,7m/s? 4. To get some exercise without going anywhere, you set your bike on a stand so that the rear wheel is free to turn. As you pedal, the chain applies a force of 18 N to the sprocket at a distance of R. = 7 em from the axle of the back wheel. Consider the wheel to be a hoop (I= MR*) of radius R = 35 cm and mass 2.4 kg. What is the angular velocity of the wheel after 5s? {1.26 Nm:21.4 rad/s 5. The pulley in Figure has a moment of inertia of 5 kg.m* and a radius of 0.50 m. The cord supporting the masses m; and m: does not slip, and the axle is frictionless. (a) Find the acceleration of each mass when m, =2 kg and m; =5 kg, (b) Find the tension in the cable supporting m; and the tension in the cable supporting m:, mi 1 m2 6. A4 kg mass is connected by a light cord to a 3 kg mass on a smooth surface. The pulley rotates about a frictionless axle and has a moment of inertia of 0,5 kgm’ and a radius of 0,3 m, Assuming that the cord does not slip on the pulley, find (a) the acceleration of the two masses and (b) the tensions 7) and 73, (ans 3,2 mis") 00%, he if 7. Picture below.shows a pulley mass 2 kg,radius 10 em, Object A located at rough plane with friciton coefficient 0,3, Find the acceleration of system ? Ans, 34/7 20 TA i 4g Kinetic Energy of RotationEK 1 my EK y=energy kinetic of translation motion (linear motion) . es EK = 510° EK x = energy kinetic of rotary motion (J) The total kinetic energy of object which rolling is : EK sx eb my+ tre? 2 EK unto + EK pti 8. A solid ball has mass 8 kg and radius 20 em move at linear velocity 30 m/s with rotating, Find a. its translation kinetic energy b. its rotation kinetic energy ¢. total kinetic energy Ans, 3600;1440 Rolling On Inclined Plane ‘We assume that the object (solid cylinder) is initially at rest, then begin rolling to the ground. By using the law of mechanical cons E, +E, Eg ty mgh +0 = 0 + Smv? + $1? (for solid cylinder, I = 4mr’) vation energy, we get mf be 3 thea 2, We can coclude the universal formula for velocity v= [7 ‘Where k is the coefficient of the moment of inertia. Example for solid cylinder I= > mR then k= > : sind Because v= vi*42as , and h=s, sin, we can differentiate that acceleration a= 9. A solid ball with radius Rand mass M move from the top of plane to the bottom that has height h= 6 m like figure below.TS. h l Find : a) its accelaration _b) its final velocity Conservation of Angular Momentum Angular momentum is formulized by L = 1.0 ‘Where L= angular momentum (kms). I the moment of inertia (ke.m"), = angular velocity (rad/s) Belo Seb em We can see from Equation above that ifthe net torque on an object is zero, then AL equals zero, That is, ALIAt= 0 so 1 does not change. This is the lav of conservation of angular momentum for a rotating object: The total angular momentum of a rotating object remains constant if the net torque acting on it is zero. When there is zero net torque acting on an object, and the object is rotating about a fixed axis or about an axis through its center of mass whose direction doesn’t change, we ean write L innit L st hort b. o:=h'or' +b, o he moment of inertia of first object at initial condition he moment of inertia of first object at final condition (can be same or different) = angular velocity of first object at initial condition ‘1"= angular velocity of first object at final condition IF the object is assumed as particle, then its angular momentum equals L=m.v.r 10. The disk (solid cylinder) has a mass M = 100 kg and a radius R =2 m. A student mass 60 kg walks from the rim of the disk toward its center. Ifthe angular speed of system is 2 rad/s when the student is at the rim, what is the angular speed when he reaches a point r = 0,5 m from the center? ‘Ans.4,1 rad/s 11. A student stands on a freely rotating platform, as shown in Fig, below. With his arms extended, his rotational frequeney is 0.25 rev/s, But when he draws his arm in, that frequency becomes 0.80 rev/s. Find the ratio of his ‘moment of inertia in the first ease to that in the second? Ans. 3,2 12. A disk like the lower one in Figure below has a moment of inertia J =0.015 kg, m’, and is turning at 3 rev/s. A trickle of sand falls onto the revolving disk at a distance of 20 em from the axis and builds a 20 em radius narrow ring of sand on it, How much the mass of sand must fall on the disk for it to slow to 2 rev/s? {0.19kg eo ‘Work and Power in Rotational Motion ‘The work W can be found by W= F.s > W=F.0.R > W=1.0‘The power P Where: + torque(N.m), 6 = angular displacement(rad) W=(joule) = angular velocity ( rad/s ) EQUILIBRIUM OF RIGID BODY ‘We leamed in Sections Dynamics, that a particle is in equilibrium—that is, the particle does not accelerate—in an inertial frame of reference if the vector sum of all the forces acting on the particle is zero, EF = 0 For an extended body, the equivalent statement is that the center of mass of the body has zero acceleration if the vector sum of all external forces acting on the body is zero. This is often called the first condition for equilibrium. A second condition for an extended body to be in equilibrium is that the body must have no tendeney to rotate. This means that the sum of torques due to all the extemal forees acting on the body must be zero. A rigid body in equilibrium can’t have any tendency to start rotating about any point, so the sum of extemal torques must be zero about any point, In vector and component forms, ‘Translation equilibrium: — EF,=Oand EF, =0 BR as, F, Rotational equilibrium: — Sr=0 yy, Remember the law of sine. This thing can help when we solve equilibrium of three aN fs forces A F3 sina, sina, sin or 13. Find the string tension T; and 7: if the mass of load is 20 kg? (400V3/3 ; 2003/3 LULLLLLLLLLLL cor n he T 14, You open a restaurant and hope to entice customers by hanging out a sign (Figure below). The uniform horizontal beam. supporting the sign is 1.5 m long, has a mass of 12 kg, and is hinged to the wall. The sign itself is uniform with a mass of 28 kg and overall length of 1.2 m. The two wires supporting the sign are cach 32 em long. are 90 em apart, and are equally spaced from the middle ofthe sign. The cable supporting the beam is 2 m long, (a) How much the tension of each wire? (©) What minimum tension must your cable be able o support without having your siga come crashing down? (c) What ‘minimum vertical force must the hinge be able to support without pulling out of the wall? Ans.137; 379; 141 15, A traffic light hangs from a pole as shown in Figure below. The uniform aluminum pole AB is 7.20 m long and has a mass of 12.0 kg. The mass of the traffic light is 21.5 kg, Determine (a) the tension in the horizontal‘massless cable CD, (b) the vertical and horizontal components of the foree exerted by the pivot A on the aluminum pole, and (c) the total force which works at point A Ans, 410N: 328 and 410 16, Inthe figure below, the angle a= 30°, rope tension T), T:, and Ts? Ans 50: SOV3 :100 = 60" , the mass M= 10 kg, The system is in equilibrium, Find the n 2 13] 17. A 875:N firefighter officer climbs a uniform ladder with weight 355 N and length Z, =8 m as shown in Figure below. The ladder rests against the wall at an angle of @ = 50°, The upper ends of the ladder rest on frictionless wall, whereas the lower end rest on rough floor. When the officer's distance from the upper ends is 1,7 m, the ladder is on the point of slipping. (a) Draw a force diagram for the ladder. (b) Find the the coefficient of static friction between the ladder and the ground (c) Find the normal force exerted by the top of the ladder, Ans. 0,59; 726,93 TZ TPT TPIT TA 18, A uniform ladder of mass m and length leans at an angle 0 against a frictionless wall, Figure below. If the coefficient of static friction between the ladder and the ground is y., prove a formula for the yc at which the ladder will not stip is w.= 25 The Center Of Mass The center of mass of any symmetric object lies on an axis of symmetry and on any plane of symmetry. For example, the center of mass of a uniform rod lies in the rod, midway between its ends. The center of mass of a sphere or a cube lies at its geometric center. Because an extended object is a continuous distribution of mass, cach small mass clement is acted upon by the gravitational force. The net effect of all these forces is equivalent to the effect of asingle force Mg acting through a special point, called the center of gravity. If g is constant over the mass distribution, then the center of gravity coincides with the center of mass. Ifan extended object is pivoted at its center of gravity, it balances in any orientation EF x ‘The equation for finding the center of mass is «With R= force resultant, and x= the point of center of mass Examples of equation for finding the center of mass: 1. The three dimension object — related with volume 3. The one dimension object — related with length Lh», Le ‘The object which has hollow or hole in it, has the negative value of area or volume. L-length The Center of Mass of Some Object 1 A=toh 1. Triangle — y= + ¢ measured from base 2. solid cone, or solid tetaedron, ot solid pyramid —> y= measured from base 3. Hemisphere — y = +" measured from base 19, Find the position of the center of mass of the system? Ans (4,3 ; 4) 102em_2em tem sem 2em| dem 3em cut from a uniform metal sheet from origin point? 6 om Pa 2 em Ans, 73/34 ; 208/34 21. ABCDE is a uniform metal sheet with side length AB is 60 em, Find the coordinat of the center of mass from point 0? Ans. y= 110/3 Eo cx 22. Locate the center of mass of the assembly, Calculate it from point O! Ans, 2475/420=5,89 y =5em ty= 10 em é x 6c TYPES OF EQUILIBRIUM 1. Neutral : An equilibrium is said to be neutral if small, externally induced displacements from that state docs not produce any unbalanced forces or torques that tend to oppose or aggravate the displacement and the body remains in its new equilibrium, Example: A ball or a pencil lying on a level surface. onl2. Stable: when a particle is slightly displace from equilibrium and it tends to come back towards equilibrium then it is said to be in stable 3. Unstable: when a partcile is displaced from equilibrium and it tends to move away from equilibrium position 2 12