PHYSICS FOR ENGINEERS

Course Module 2
MECHANICS 2

COURSE UNIT 6.

ROTATIONAL EQUILIBRIUM AND

DYNAMICS
Rev. 01

DARIUS L. FAJARDO, MAT

Faculty, DMS

March 3, 2023

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 TABLE OF CONTENTS

Page
no.
COVER PAGE 1
TABLE OF CONTENTS 2
LIST OF EXERCISES 2
LIST OF APPENDICES 2
CHECKLIST 3
UNIT EXPECTED OUTCOMES (UEOs) 3
REQUIRED READINGS 3
STUDY GUIDE 4
6.1 RIGID BODY IN EQUILIBRIUM 4
6.2 CENTER OF GRAVITY 13
6.3 DYNAMICS OF ROTATIONAL MOTION 16
FURTHER READINGS/EXPLORATION 26
UNIT TASK 26
REFERENCES 26

LIST OF EXERCISES

Page no.
Exercise no. 1 8
Exercise no. 2 11
Exercise no. 3 16
Exercise no. 4 19
Exercise no. 5 25

LIST OF APPENDICES

Page no.
Problem Set no. 5 28

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PHYSICS FOR ENGINEERS
COURSE MODULE COURSE UNIT WEEK
2 6 7-8
ROTATIONAL EQUILIBRIUM AND ROTATIONAL DYNAMICS

CHECKLIST
⧠ Acquire all learning materials from google classroom or through USB.
⧠ Read the course unit module prior to class attendance
⧠ Attend on-line class for live lecture session via google meet (for
synchronous on-line)
⧠ View recorded lecture session via google classroom (for asynchronous on-
line)
⧠ Watch pre-recorded lecture via USB or google classroom (for
asynchronous off-line)
⧠ Participate in classroom discussion by answering assigned exercises (for
synchronous on-line only)
⧠ Write down all important formulas on index card
⧠ Answer and submit problem set on specified date.
⧠ Answer and submit unit test.

UNIT EXPECTED OUTCOMES (UEOs)

At the end of this unit, you should be able to:
1. Define and understand the concept of dynamics quantities of rotational motion such as torque, center of gravity,
moment of inertia, angular momentum, rotational work and power, and rotational kinetic energy.
2. Relate the dynamics of translational motion and rotational motion; and
3. Apply the laws of conservation of momentum and energy in solving problems involving rotational motion.

REQUIRED READINGS
This course module.
STUDY GUIDE
6.1 RIGID BODY IN EQUILIBRIUM

6.1.1 Torque

In unit 5, we learned the kinematics of rotational motion, now we are going to discuss the dynamics of rotational
motion. From Newton’s second we learned a net force causes acceleration on a body. Force can also cause rotational motion
on a rigid body rotating about an axis. This tendency of a force to cause or change the rotational motion of a body can be
measured in terms of a quantity called torque 𝝉. You are exerting torque every time you open the door of your refrigerator,
twisting the bottle cap of your favorite Mang Tomas sauce, fastening a nut by means of wrench, or even when you cut your
long nails.

To illustrate what torque is all about, consider a door, in the figure below viewed from top, with length 𝐿. This length
is the distance between the hinge and the door knob. To open a door, we usually apply a force 𝐹 on the door knob
perpendicular to the length of the door, thus we are exerting torque on the door. Mathematically, the magnitude of torque
is expressed as the product of the force 𝐹 and the perpendicular distance 𝐿 (called lever arm) between the line of action of
the force and the point of rotation 𝑜 (called pivot or fulcrum).

𝝉𝒐 = 𝑭𝒍

Where:
𝐹 − 𝑓𝑜𝑟𝑐𝑒, 𝑁
𝑙 − 𝑙𝑒𝑣𝑒𝑟 𝑎𝑟𝑚, 𝑚
𝜏 − 𝑡𝑜𝑟𝑞𝑢𝑒, 𝑁 ∙ 𝑚

The SI unit of torque is 𝑁 ∙ 𝑚. It is also expressed in 𝑙𝑏 ∙ 𝑖𝑛, 𝑙𝑏 ∙ 𝑓𝑡, and 𝑑𝑦𝑛𝑒 ∙ 𝑐𝑚 in other systems of unit. Torque is
a vector. Its direction can be determined by how the body rotates. When the force tends to rotate the object counter
clockwise, torque is positive otherwise it is negative (see figure below).

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 Torque varies with the lever arm 𝐿 and the relative angle
of the line of action of the force 𝐹 from the lever arm. Remember,
torque is at maximum value when the force 𝐹 acts perpendicular
with the lever arm. When the force 𝐹 acts at an angle 𝜃 from the
lever arm, we will consider only the component which acts
perpendicular to the lever arm. In the figure, only 𝐹𝑦 acts
perpendicular with 𝐿. In this case, torque is expressed as:

𝝉𝒐 = (𝑭 𝐬𝐢𝐧 𝜽)𝒍

Where:
𝐹 − 𝑓𝑜𝑟𝑐𝑒, 𝑁
𝜃 − 𝑎𝑛𝑔𝑙𝑒 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝐹 𝑎𝑛𝑑 𝑙, 𝑑𝑒𝑔.
𝑙 − 𝑙𝑒𝑣𝑒𝑟 𝑎𝑟𝑚, 𝑚
𝜏 − 𝑡𝑜𝑟𝑞𝑢𝑒, 𝑁 ∙ 𝑚

When the force 𝐹 acts parallel to the lever arm, or when the force acts directly on the fulcrum, torque is zero. It
means that the body does not rotate even if we exert force on the body.

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Sample Problem – Torque
PROBLEM NO. 1
In the figure below, a force of 10 N is applied to a wrench to tighten a nut. The length of the wrench is 0.2 m. What is the
torque exerted when the force acts at (a) the end and (b) the middle of the wrench? (c) If the force is acted 30° from the lever
of the wrench, determine the torque.
Given:
𝐹𝑜𝑟𝑐𝑒, 𝐹 = 10 𝑁
𝐿𝑒𝑛𝑔𝑡ℎ 𝑜𝑓 𝑤𝑟𝑒𝑛𝑐ℎ, 𝑙 = 0.2 𝑚
𝜃 = 30°
Required:
(a) 𝑇𝑜𝑟𝑞𝑢𝑒, 𝜏 (end)
(b) 𝑇𝑜𝑟𝑞𝑢𝑒, 𝜏 (middle)
(c) 𝑇𝑜𝑟𝑞𝑢𝑒, 𝜏 (if 𝜃 = 30°)
Solution:
(a) 𝑇𝑜𝑟𝑞𝑢𝑒, 𝜏 (end)
𝜏 = 𝐹𝑙
𝜏 = (10 𝑁)(0.2 𝑚)
𝜏 = 2𝑁∙𝑚
(b) 𝑇𝑜𝑟𝑞𝑢𝑒, 𝜏 (middle)
𝜏 = 𝐹𝑙
𝜏 = (10 𝑁)(0.1 𝑚)
𝜏 = 1𝑁∙𝑚
(c) 𝑇𝑜𝑟𝑞𝑢𝑒, 𝜏 (if 𝜃 = 30°)
𝜏 = (𝐹 sin 𝜃)𝑙
𝜏 = (10 𝑁 sin 30°)(0.2 𝑚)
𝜏 = 1𝑁∙𝑚

6.1.2 Net Torque

We learned that a body can rotate either in counterclockwise or clockwise direction, depending on the orientation
of the force relative to the lever arm. But what if there are two or more forces acting on the body like as shown in the figure?
In what way the body rotates? Will it rotate counterclockwise or clockwise, or it does not rotate at all? This question can be
answered by computing the 𝒏𝒆𝒕 𝒕𝒐𝒒𝒖𝒓𝒆 ∑𝝉 acting on the body about. This is analogous with the superposition of forces we
have discussed in unit 2. The 𝒏𝒆𝒕 𝒕𝒐𝒒𝒖𝒓𝒆 ∑𝝉 acting on a body is equal to the summation of individual torques produced by
individual forces acting on a body.

∑𝝉𝒐 = 𝝉𝟏 + 𝝉𝟐 + 𝝉𝟑

Where:
𝝉𝟏 , 𝝉𝟐 , 𝝉𝟑 − 𝑡𝑜𝑟𝑞𝑢𝑒 𝑏𝑦 𝑒𝑎𝑐ℎ 𝑓𝑜𝑟𝑐𝑒, 𝑁 ∙ 𝑚
∑𝝉𝒐 − 𝑛𝑒𝑡 𝑡𝑜𝑟𝑞𝑢𝑒, 𝑁 ∙ 𝑚

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 When the net torque is a positive value, therefore the body rotates counterclockwise. When it is negative, then it
rotates clockwise. If the net torque is zero, then the body will not rotate. We will study later in more detail, situations wherein
the net torque is zero.

Sample Problem – Net Torque

PROBLEM NO. 2
A lever of length 15 cm is subjected simultaneously with four forces as indicated in the figure below. Determine the
magnitude and directions of the net torque at (a) point A; and (b) point B.
Given:
𝐹1 = 10 𝑁, 𝜃 = 60°
𝐹2 = 20 𝑁, 𝜃 = 90°
𝐹3 = 20 𝑁, 𝜃 = 90°
𝐹4 = 10 𝑁, 𝜃 = 90°
Required:
(a) ∑𝜏𝐴
(b) ∑𝜏𝐵

Solution:
(a) ∑𝜏𝐴

∑𝜏𝐴 = 𝜏1 + 𝜏2 + 𝜏3 + 𝜏4
∑𝜏𝐴 = 0 + 𝐹2 𝐿2 + 𝐹3 𝐿3 − 𝐹4 𝐿4
∑𝜏𝐴 = 0 + (20 𝑁)(0.05 𝑚) + (20 𝑁)(0.1 𝑚) − (10 𝑁)(0.15 𝑚)
∑𝜏𝐴 = 1.5 𝑁 ∙ 𝑚
∑𝜏𝐴 = 1.5 𝑁 ∙ 𝑚, 𝑐𝑜𝑢𝑛𝑡𝑒𝑟𝑐𝑙𝑜𝑐𝑘𝑤𝑖𝑠𝑒

(b) ∑𝜏𝐵

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 ∑𝜏𝐵 = 𝜏1 + 𝜏2 + 𝜏3 + 𝜏4
∑𝜏𝐵 = −𝐹1 𝐿1 sin 𝜃 + 0 + 𝐹3 𝐿3 − 𝐹4 𝐿4
∑𝜏𝐵 = −(10 𝑁)(0.05 𝑚 sin 60°) + 0 + (20 𝑁)(0.05 𝑚) − (10 𝑁)(0.10 𝑚)
∑𝜏𝐵 = 0.15 𝑁 ∙ 𝑚
∑𝜏𝐵 = 0.15 𝑁 ∙ 𝑚, 𝑐𝑜𝑢𝑛𝑡𝑒𝑟𝑐𝑙𝑜𝑐𝑘𝑤𝑖𝑠𝑒

CHECK WHAT HAVE YOU LEARNED!

Exercise no. 1
Course/Year/Section: ______________ Seat no. ___ Date submitted: __________ Due date: _________
Name: ______________________________________ Teacher: __________________________________

Determine the net torque about point C and point D in problem no. 2.

6.1.3 Conditions for Equilibrium

We learned from unit 1, that when there is no net force acting on a body, the body remains at rest when it is initially
at rest, or it will remain in motion at constant velocity when it is initially moving. Here, we will extend this idea by considering
the state of rotational motion of a body. Here will analyze bodies in equilibrium condition. The body is in the state of
equilibrium when the body satisfies the two conditions: translational equilibrium and rotational equilibrium.
To explain these two conditions for equilibrium, consider a
2-meter long uniform horizontal level that is support by a hinge 𝑂 at
its center. Then we suspend 50 N of weight at each end of the lever.
By simple reasoning, of course, we say that the lever is “balanced”
or it does not move nor rotate. Actually, this state of “balanced”
means the lever already satisfies the two conditions for equilibrium.
Translational equilibrium is actually based on Newton’s
first law of motion. When there is no net force acting on a body is
zero, the body remain at rest. If we draw the FBD of the lever, we
see that the two 50-N downward weight is being “balanced” by the
upward force 100 N exerted by the hinge. The force exerted by the
hinge is termed as reaction. Without this vertical reaction, the bar
will definitely accelerate downward because of the two weights
acting at its ends. Now, if we consider the summation of force on
vertical axis (or y-axis), the result is zero, and since there is no net
force acting horizontally (or along x-axis), we may say that the lever
satisfies the condition of translational equilibrium

∑𝑭𝒙 = 𝟎
∑𝑭𝒚 = 𝟎

On the other hand, rotational equilibrium is the condition in

which the net torque acting about any point of rotation on a body is
zero. Here , if we take the net torque about the hinge 𝑂, the 50 N
weight on the left end produces 50 𝑁 ∙ 𝑚 of torque, while the other

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50 N weight produces −50 𝑁 ∙ 𝑚 of toque. Since the reaction 100 N
directly acts at point 𝑂, it does not create torque about this point.
With these, the net torque is zero.

∑𝝉 = 𝟎

Remember, to attain fully the state of equilibrium, these two conditions must be satisfied. In problem solving, the
first thing you need to do is to draw the FBD of the body, then decide which of the three equations of equilibrium is applicable.
Sometimes, it is necessary to use two equations simultaneously to solve the unknown variables.

Sample Problems – Conditions for Equilibrium

PROBLEM NO. 3
A meter rule is supported at its center. It is balanced by two weights, A and B, as shown in the figure below. (a) If the weights
of A and B are 40 N and 20 N respectively, find the distance of weight B from the support. (b) What is the reaction force in
the support.
Given:
𝑤𝐴 = 40 𝑁
𝑤𝐵 = 20 𝑁
Required:
(a) 𝐿𝑒𝑣𝑒𝑟 𝑎𝑟𝑚 𝑜𝑓 𝐵 𝑓𝑟𝑜𝑚 𝑠𝑢𝑝𝑝𝑜𝑟𝑡, 𝑑
(b) 𝑅𝑒𝑎𝑐𝑡𝑖𝑜𝑛 𝑓𝑜𝑟𝑐𝑒, 𝑅

Solution:
(a) 𝐿𝑒𝑣𝑒𝑟 𝑎𝑟𝑚 𝑜𝑓 𝐵 𝑓𝑟𝑜𝑚 𝑠𝑢𝑝𝑝𝑜𝑟𝑡, 𝑑

Taking the summation of torques about the support O.

∑𝜏𝑜 = 0
(40 𝑁)(20 𝑐𝑚) − (20 𝑁)𝑑 = 0
Solving for 𝑑
(40 𝑁)(20 𝑐𝑚)
𝑑=
20 𝑁
𝑑 = 40 𝑐𝑚

(b) 𝑅𝑒𝑎𝑐𝑡𝑖𝑜𝑛 𝑓𝑜𝑟𝑐𝑒, 𝑅

Taking the summation of forces along y-axis
∑𝐹𝑦 = 0
𝑅 − 40𝑁 − 20𝑁 = 0
𝑅 = 60 𝑁

PROBLEM NO. 4
Kent and his mother sit on one side of a see-saw while Charles and his father sit on the other side as shown in the figure
below. (a) How far from his father should Charles sit so that the see-saw is balanced? (b) What is the reaction in the fulcrum?
Neglect the weight of the see-saw.

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Given:
𝑀𝑜𝑡ℎ𝑒𝑟 ′ 𝑠 𝑤𝑒𝑖𝑔ℎ𝑡 = 500 𝑁
𝐾𝑒𝑛𝑡′𝑠 𝑤𝑒𝑖𝑔ℎ𝑡 = 300 𝑁
𝐶ℎ𝑎𝑟𝑙𝑒𝑠′ 𝑤𝑒𝑖𝑔ℎ𝑡 = 250 𝑁
𝐹𝑎𝑡ℎ𝑒𝑟′𝑠 𝑤𝑒𝑖𝑔ℎ𝑡 = 600 𝑁
Required:
(a) 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝐶ℎ𝑎𝑟𝑙𝑒𝑠 𝑎𝑛𝑑 𝐹𝑎𝑡ℎ𝑒𝑟, 𝑥
(b) 𝑅𝑒𝑎𝑐𝑡𝑖𝑜𝑛 𝑓𝑜𝑟𝑐𝑒, 𝑅
Solution:
(a) 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 𝐶ℎ𝑎𝑟𝑙𝑒𝑠 𝑎𝑛𝑑 𝐹𝑎𝑡ℎ𝑒𝑟, 𝑥

Taking the summation of torques about the support

∑𝜏𝑜 = 0
(500 𝑁)(2 𝑚) + (300 𝑁)(1.5 𝑚) − (600 𝑁)(2 𝑚) − (250)(2𝑚 − 𝑥) = 0
Solving for 𝑑
−250 + 250𝑥 = 0
𝑥 =1𝑚

(b) 𝑅𝑒𝑎𝑐𝑡𝑖𝑜𝑛 𝑓𝑜𝑟𝑐𝑒, 𝑅

Taking the summation of forces along y-axis
∑𝐹𝑦 = 0
𝑅 − 500 𝑁 − 300 𝑁 − 250 𝑁 − 600 𝑁 = 0
𝑅 = 1,650 𝑁

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CHECK WHAT HAVE YOU LEARNED!

Exercise no. 2
Course/Year/Section: ______________ Seat no. ___ Date submitted: __________ Due date: _________
Name: ______________________________________ Teacher: __________________________________

Two people carrying a uniform horizontal ladder that is 6.0 m long and weighs 400 N. If one person applies an upward force
equal to 180 N at one end, (a) how much force does the other man exerts to maintain equilibrium? (b) At what point or
position on the ladder does he exerts this force?

PROBLEM NO. 5
In a construction site, a 600-N worker is standing on a 8.00-meter
long horizontal beam weighing 200 N. The right end of the beam
is attached to the wall by a pin connection, while its left end is
supported by a cable that makes an angle 53.0° with the beam as
shown in the figure below. If the worker stands a distance 2.00 m
from the wall, find (a) the tension in the cable; and (b) the
magnitude and direction of the force exerted by the wall on the
beam.
Given:
Length of beam 𝐿 = 8.00 𝑚
Weight of beam, 𝑤𝑏 = 200 𝑁
Angle of cable from the beam, ∅ = 53.0°
Weight person, 𝑤𝑝 = 600 𝑁
Distance of person from the wall, 𝑑 = 2.00 𝑚

Required:
(a) 𝑇𝑒𝑛𝑠𝑖𝑜𝑛 𝑖𝑛 𝑡ℎ𝑒 𝑐𝑎𝑏𝑙𝑒, 𝑇
(b) 𝑅𝑒𝑎𝑐𝑡𝑖𝑜𝑛𝑠 𝑏𝑦 𝑡ℎ𝑒 𝑤𝑎𝑙𝑙, 𝑅𝑥 & 𝑅𝑦
Solution:
(a) 𝑇𝑒𝑛𝑠𝑖𝑜𝑛 𝑖𝑛 𝑡ℎ𝑒 𝑐𝑎𝑏𝑙𝑒, 𝑇
Taking summation of torques about point O
∑𝜏𝑜 = 0
𝑇𝑦 (8 𝑚) − (600 𝑁)(2 𝑚) − (200 𝑁)(4 𝑚) = 0

Solve for 𝑇𝑦 , then calculate 𝑇

𝑇𝑦 (8 𝑚) = 2,000 𝑁 ∙ 𝑚
𝑇𝑦 = 250 𝑁
𝑇𝑦 = 𝑇 sin 53.0°
𝑇𝑦 250 𝑁
𝑇= =
sin 53.0° sin 53.0°
𝑇 = 313.03 𝑁

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 (b) 𝑅𝑒𝑎𝑐𝑡𝑖𝑜𝑛𝑠 𝑏𝑦 𝑡ℎ𝑒 𝑤𝑎𝑙𝑙, 𝑅𝑥 & 𝑅𝑦
From
∑𝐹𝑥 = 0
𝑅𝑥 − 𝑇𝑥 = 0
𝑅𝑥 − 𝑇 cos 53.0° = 0
Solve for 𝑅𝑥
𝑅𝑥 = 𝑇 cos 53.0° = (313.03 𝑁) cos 53.0°
𝑅𝑥 = 188.39 𝑁
From
∑𝐹𝑦 = 0
𝑅𝑦 + 𝑇𝑦 − 600 𝑁 − 200 𝑁 = 0
Solve for 𝑅𝑦
𝑅𝑦 + 250 𝑁 − 600 𝑁 − 200 𝑁 = 0
𝑅𝑦 = 550 𝑁

PROBLEM NO. 6
A uniform ladder of length 𝑙 rest against a smooth, vertical
wall as shown in the figure below. The mass of the ladder is
𝑚, and the coefficient of static friction between the ladder
and the ground is 𝜇𝑠 = 0.40. Find the minimum angle 𝜃 at
which the ladder does not slip.
Given:
Coefficient of friction between ladder and
ground, 𝜇𝑠 = 0.40
Required:
Minimum angle, 𝜃

Solution:
From
∑𝐹𝑥 = 0
𝑓𝑠𝑚𝑎𝑥 − 𝐵 = 0
𝜇𝑠 𝐴 − 𝐵 = 0
Solve for 𝐴
𝐵
𝐴 = → 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 ①
𝜇𝑠

From
∑𝐹𝑦 = 0
𝐴 − 𝑤 = 0
𝐴 − 𝑚𝑔 = 0
Solve for 𝐴
𝐴 = 𝑚𝑔 → 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 ②

Equate ① & ②
𝐵
= 𝑚𝑔
𝜇𝑠
Solve for 𝐵
𝐵 = 𝜇𝑠 𝑚𝑔 → 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 ③

Taking summation of torques about point A

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 ∑𝜏𝑜 = 0
𝑙
𝐵 (𝑙 sin 𝜃) − 𝑤 ( cos 𝜃) = 0
2

Substitute equation ③, simplify and solve for 𝜃𝑚𝑖𝑛

𝑙
𝜇𝑠 𝑚𝑔(𝑙 sin 𝜃) − 𝑚𝑔 ( cos 𝜃) = 0
2
Cancel out 𝑚, 𝑔, and 𝑙
1
𝜇𝑠 sin 𝜃 = cos 𝜃
2
sin 𝜃 1
=
cos 𝜃 2𝜇𝑠
1
tan 𝜃 =
2𝜇𝑠
−1
1 1
𝜃 = tan ( ) = tan−1 [ ]
2𝜇𝑠 2(0.40)
𝜃 = 51.34°

6.2 CENTER OF GRAVITY

6.2.1 Center of Gravity

We learned from unit 2, the concept of weight. Actually, each particle of a body has weight. The total weight of the
body constitutes the weight of all particle of the body. This total weight acts at a point called center of gravity, cg. It is the
point where the body’s weight is concentrated.

The center of gravity of an object can be located in many ways. One of these is the plumb line method shown in
figure below. The object is being suspended freely at 3 non-collinear points. A vertical line is constructed at each point using
a plumb bomb (or any weight). In intersection of these three vertical lines is the location of center of gravity of the body.

13
6.2.2 Coordinates of Center of Gravity

Another method is by using the principle of torque or moment as what we have discussed in equilibrium. It is more
systematic and mathematical than the plumb line method. Here, the whole object or system is divided up into several number
of smaller bodies of weight 𝑚𝑔. Each particle will have a set of x- and y-coordinates (𝑥, 𝑦) indicating its location. The whole
body or system has a total mass of ∑𝑚𝑖 and its x- and y-coordinates is the location is the body’s center of gravity (𝑥𝑐𝑔 , 𝑦𝑐𝑔 ).

Using the principle of moment, the product of the total mass and its coordinate is equal to the summation of the
product of mass of each smaller body and its coordinate. Therefore, the x- and y-coordinates of the center of gravity of the
system is expressed as:

∑ 𝒎𝒊 𝒙 𝒊
𝒙𝒄𝒈 =
∑ 𝒎𝒊

∑ 𝒎𝒊 𝒚 𝒊
𝒚𝒄𝒈 =
∑ 𝒎𝒊

14
 The primary reason why it is important to locate the center of gravity of a body is to ensure the stability of a body
or system. Stability is a measure how likely for a body not to topple over when force is applied. It depends entirely on the
location of center of gravity relative to the base or area of support on which the body is standing. For example, in the figure,
a double decker bus is stable on horizontal road since its center of gravity is within the span distance of the wheels which
serves as the area of support. For an inclined road, the center of gravity is shifted towards one side of the wheels. If there is
too much banking angle on the road, the bus becomes unstable because the center of gravity will no longer within the area
of support.

Sample Problem – Center of Gravity

PROBLEM NO. 7
A meterstick of uniform density is hung from a
string tied at the 25-cm mark. A 0.50 kg object
is hung from the zero end of the meterstick,
and the meterstick is balanced horizontally.
What is the mass of the meterstick?
Given:
x-coordinate of c.g., 𝑥𝑐𝑔 = 25 𝑐𝑚
𝑚1 = 0.50 𝑘𝑔
𝑥1 = 0
𝑥2 = 50 𝑐𝑚
Required:
Mass of meterstick, 𝑚2
Solution:
From

15
 ∑ 𝑚𝑖 𝑥𝑖
[𝑥𝑐𝑔 = ]
∑ 𝑚𝑖
𝑚1 𝑥1 + 𝑚2 𝑥2
𝑥𝑐𝑔 =
𝑚1 + 𝑚2
Solve for 𝑚2
𝑥𝑐𝑔 (𝑚1 + 𝑚2 ) = 𝑚1 𝑥1 + 𝑚2 𝑥2
𝑚1 𝑥𝑐𝑔 + 𝑚2 𝑥𝑐𝑔 = 𝑚1 𝑥1 + 𝑚2 𝑥2
𝑚2 𝑥𝑐𝑔 − 𝑚2 𝑥2 = 𝑚1 𝑥1 − 𝑚1 𝑥𝑐𝑔
𝑚2 (𝑥𝑐𝑔 − 𝑥2 ) = 𝑚1 (𝑥1 − 𝑥𝑐𝑔 )
𝑚1 (𝑥1 − 𝑥𝑐𝑔 ) 0.50 𝑘𝑔(0 − 25 𝑐𝑚)
𝑚2 = =
(𝑥𝑐𝑔 − 𝑥2 ) (25 𝑐𝑚 − 50 𝑐𝑚)
𝑚2 = 0.50 𝑘𝑔

CHECK WHAT HAVE YOU LEARNED!

Exercise no. 3
Course/Year/Section: ______________ Seat no. ___ Date submitted: __________ Due date: _________
Name: ______________________________________ Teacher: __________________________________

Determine the x-coordinate of the center of gravity of a system of weights composed of a uniform density meterstick of
mass 0.40 kg, a 0.60 kg object hung from the 20-cm mark and 0.50 kg mass hung from the 70-cm mark of the meterstick.

6.3 DYNAMICS OF ROTATIONAL MOTION

6.3.1 Quantities and Conservative Laws for Dynamics of Rotational Motion

In this section, we are going to discuss other important quantities of the dynamics of rotational motion such as net
torque ∑𝜏, moment of Inertia 𝐼, angular momentum 𝐿, rotational kinetic energy 𝐾𝑟 , rotational work 𝑊 and rotational power,
𝑃. We will also discuss conservative laws such as the conservation of angular momentum and conservation of mechanical
energy for rotational motion.

6.3.2 Net Torque and Moment of Inertia

We learned already that a net torque cause rotational

motion of a rigid body. Now, we are going to consider how net
torque is related to the kinematics of rotational motion,
specifically the angular acceleration. When a rigid body is
subjected to net external torque, it undergoes an angular
acceleration. This is actually analogous with Newton’s second
law.
In the figure, let say we have a rigid body which is initially a rest. Imagine a particle of mass 𝑚 which has a distance
of 𝑟 from the rotation axis 𝑂. From rest, if we apply an external force 𝐹 on the particle (perpendicular to 𝑟), the particle
accelerates at a constant rate of 𝑎𝑡 . This is actually the tangential acceleration we have discussed from unit 5. From Newton’s
second law,

16
 𝐹 = 𝑚𝑎𝑡

If we multiply both sides of the equation by 𝑟, the equation becomes,

𝐹𝑟 = 𝑚𝑎𝑡 𝑟

But we knew that the expression 𝐹𝑟 is equivalent to net torque and from unit 5, tangential acceleration 𝑎𝑡 is 𝛼𝑟.
The equation becomes,

∑𝜏 = 𝑚(𝛼𝑟)𝑟

Simplifying the equation,

∑𝜏 = 𝑚𝑟 2 ∝

This equation shows the analogy with Newton’s second law, that a net force causes acceleration and a net torque
causes angular acceleration. Now, the expression 𝑚𝑟 2 is analogous with mass 𝑚 of Newton’s second law. We learned from
unit 2 that mass 𝑚 measure inertia along straight line while the expression 𝑚𝑟 2 measures the rotational inertia. We call this
rotational inertia as moment of inertia 𝑰. For a particle of mass 𝑚 rotating at a distance 𝑟 from the rotation axis, its moment
of inertia is given by this expression. Its SI unit is 𝑘𝑔 ∙ 𝑚2 .

𝑰 = 𝒎𝒓𝟐 (moment of inertia of a particle)

Where:
𝑚 − 𝑚𝑎𝑠𝑠 𝑜𝑓 𝑡ℎ𝑒 𝑝𝑎𝑟𝑡𝑖𝑐𝑙𝑒, 𝑘𝑔
𝑟 − 𝑑𝑖𝑠𝑡𝑎𝑛𝑐𝑒 𝑜𝑓 𝑡ℎ𝑒 𝑝𝑎𝑟𝑡𝑖𝑐𝑙𝑒 𝑓𝑜𝑚 𝑡ℎ𝑒 𝑎𝑥𝑖𝑠 𝑜𝑓 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛, 𝑚
𝐼 − 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎, 𝑘𝑔 ∙ 𝑚2

Finally, the general expression of net torque is:

∑𝝉 = 𝑰𝜶
Where:
𝐼 − 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎, 𝑘𝑔 ∙ 𝑚2
𝛼 − 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛, 𝑟𝑎𝑑/𝑠 2
∑𝝉 − 𝑒𝑥𝑡𝑒𝑟𝑛𝑎𝑙 𝑜𝑟 𝑛𝑒𝑡 𝑡𝑜𝑟𝑞𝑢𝑒, 𝑁 ∙ 𝑚
The moment of inertia depends on the shape of the rotating body as well as the relative position of the axis of
rotation. The figure below shows the expression of moment of inertia for different objects relative to axis of rotation.

17
Sample Problem – Net Torque
PROBLEM NO. 8
A uniform rod of length 0.50 m and mass 1.50 kg is attached at one
end to a frictionless pivot and is free to rotate about the pivot in the
vertical plane as in figure below. The rod is released from rest in the
horizontal position. What are (a) the initial angular acceleration of
the rod and (b) the initial tangential acceleration of its right end?
Given:
Length of rod 𝑙 = 0.50 𝑚
Mass, 𝑚 = 1.50 𝑘𝑔
Long, thin rod with rotation axis through end

Required:
(a) 𝐼𝑛𝑖𝑡𝑖𝑎𝑙 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑜𝑑 , 𝛼
(b) 𝐼𝑛𝑖𝑡𝑖𝑎𝑙 𝑡𝑎𝑛𝑔𝑒𝑛𝑡𝑖𝑎𝑙 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑎𝑡 𝑟𝑖𝑔ℎ𝑡 𝑒𝑛𝑑 (𝑟 = 𝑙), 𝑎𝑡𝑎𝑛
Solution:
(a) 𝐼𝑛𝑖𝑡𝑖𝑎𝑙 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑜𝑓 𝑡ℎ𝑒 𝑟𝑜𝑑 , 𝛼

18
 From
∑𝜏 = 𝐼𝛼 → 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 ①
Torque is
𝑙
∑𝜏 = −𝑚𝑔 ( ) → 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 ②
2
The object may be considered as long, thin rod with
rotation axis through end, therefore
1
𝐼 = 𝑚𝑙 2 → 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 ③
3
Substitute ② & ③ to ①
𝑙 1
−𝑚𝑔 ( ) = ( 𝑚𝑙 2 ) 𝛼
2 3
Solve for 𝛼
−3𝑔 −3(9.8 𝑚/𝑠 2 )
𝛼= =
2𝑙 2(0.50 𝑚)
𝛼 = −29.4 𝑟𝑎𝑑/𝑠 2 (negative indicates that the rod accelerates clockwise)

Take note that this value of angular acceleration is at instant when the rod is in horizontal. Its magnitude is
decreasing as the rod rotates, since the angle between line of action of the force 𝑚𝑔 and the rod decreases.

(b) 𝐼𝑛𝑖𝑡𝑖𝑎𝑙 𝑡𝑎𝑛𝑔𝑒𝑛𝑡𝑖𝑎𝑙 𝑎𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑎𝑡 𝑟𝑖𝑔ℎ𝑡 𝑒𝑛𝑑 (𝑟 = 𝑙), 𝑎𝑡𝑎𝑛

From
𝑎𝑡 = 𝑟𝛼
𝑎𝑡 = (0.50 𝑚)(−29.4 𝑚/𝑠 2 )
𝑎𝑡 = −14.7 𝑚/𝑠 2

CHECK WHAT HAVE YOU LEARNED!

Exercise no. 4
Course/Year/Section: ______________ Seat no. ___ Date submitted: __________ Due date: _________
Name: ______________________________________ Teacher: __________________________________

A 7.00-kg solid disk of radius 20.0 cm is free to rotate at its center. From rest, a constant tangential force of 20.0 N is
applied on its rim which causes the disk to rotate. (a) Determine the net torque acting on the disk. (b) How much time for
the disk to reach an angular speed of 20 rad/s? (c) What is the angular displacement of the disk during this time? Assume
constant angular acceleration.

19
6.3.3 Angular Momentum

We learned from unit 4 the concept of linear motion.

Now, we are going to discuss momentum of a rotating body
called angular momentum 𝑳.
For a particle of mass 𝑚 that rotates at a distance 𝑟
from the rotation axis, its angular momentum 𝐿 is given by the
product of the instantaneous linear momentum 𝑚𝑣 and the
perpendicular distance 𝑟.

𝐿 = 𝑚𝑣𝑟

From unit 5, the tangential speed 𝑣 is expressed as the product

of angular speed 𝜔 and the radius 𝑟. Therefore, the equation
becomes,

𝐿 = 𝑚(𝜔𝑟)𝑟

Simplifying will give,

𝐿 = 𝑚𝑟 2 𝜔

We see again the expression 𝑚𝑟 2 and as we recall, this is the moment of inertia 𝐼 of a particle. Therefore, angular momentum
𝐿 can also be defined as the product of the body’s moment of inertia 𝐼 and angular speed 𝜔 and its direction is the same as
the direction of angular speed. The SI unit of angular momentum is 𝑘𝑔 ∙ 𝑚2 /𝑠.

𝑳 = 𝑰𝝎
Where:
𝐼 − 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎, 𝑘𝑔 ∙ 𝑚2
𝜔 − 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝑟𝑎𝑑/𝑠
𝐿 − 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚, 𝑘𝑔 ∙ 𝑚2 /𝑠

6.3.4 Newton’s Second Law for Rotational Motion

We learned from unit 4 that a certain net force causes a change in linear momentum of a body. Large amount of net
force changes the momentum of a body at faster rate. This concept also applies in angular momentum. When net torque
∆𝐿
∑𝜏 acts on a body, its angular momentum will change at a certain rate .
∆𝑡

𝑰(𝝎𝒇 − 𝝎𝒊 ) ∆𝑳
∑𝝉 = =
∆𝒕 ∆𝒕

Where:
𝐼 − 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎, 𝑘𝑔 ∙ 𝑚2
𝜔𝑖 − 𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝑟𝑎𝑑/𝑠
𝜔𝑓 − 𝑓𝑖𝑛𝑎𝑙 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝑟𝑎𝑑/𝑠
∆𝑡 − 𝑡𝑖𝑚𝑒 𝑖𝑛𝑡𝑒𝑟𝑣𝑎𝑙, 𝑠
∆𝐿 − 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚, 𝑘𝑔 ∙ 𝑚2 /𝑠
∑𝝉 − 𝑒𝑥𝑡𝑒𝑟𝑛𝑎𝑙 𝑜𝑟 𝑛𝑒𝑡 𝑡𝑜𝑟𝑞𝑢𝑒, 𝑁 ∙ 𝑚

This equation explains that a gradual change in angular momentum requires small amount of torque while a sudden
change in angular momentum needs large amount of torque. This is what happens during sudden brake on a vehicle. Large

20
amount of torque is applied on the wheels by means of large friction between the wheels and the brake drum which causes
sudden decrease in wheel’s angular momentum.

6.3.5 Principle of Conservation of Angular Momentum

We see how conservation of momentum is applied during collision of bodies. This principle also applies in angular
momentum. Conservation of angular momentum states that for an isolated system the angular momentum is constant, that
is the total initial angular momentum of the system is equal to the final angular momentum.

∑𝑳𝒊 = ∑𝑳𝒇

Where:
∑𝐿𝑖 − 𝑡𝑜𝑡𝑎𝑙 𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚, 𝑘𝑔 ∙ 𝑚2 /𝑠
∑𝐿𝑓 − 𝑡𝑜𝑡𝑎𝑙 𝑓𝑖𝑛𝑎𝑙 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚, 𝑘𝑔 ∙ 𝑚2 /𝑠

This conservative law explains that

the change in angular speed of the bodies in a
system is associated with the negative change
in moment of inertia of the system, while
keeping the system’s angular momentum
constant. To explain this, imagine a system
composed of two particles that rotates in the
same direction about their midpoint. As the
two masses get closer to each other, the
moment of inertia decreases since the
distance 𝑟 is decreasing while keeping the
total angular momentum constant. As
consequence to this, the rotation of two
particle speeds up. This is also what is
happening on a skater every time he makes a
spin. The skater spin at low speed when arms
and legs extend out. As he withdraws his arms
and legs inwards, his spin gets faster (see
figure below).

21
6.3.6 Rotational Kinetic Energy, Work-energy Theorem and Rotational Power

Now we are going to derive an expression for the

kinetic energy of a body rotating about an axis. Let us begin
with a particle on a rigid body of mass 𝑚 that moves along a
circular path of radius 𝑟 at a speed 𝑣. Using this information,
the kinetic energy of the particle is,

1
𝐾 = 𝑚𝑣 2
2

But from unit 5, the tangential speed 𝑣 is also 𝜔𝑟. The equation becomes.

1
𝐾 = 𝑚(𝜔𝑟)2
2

Rearranging this equation, will give,

1
𝐾 = (𝑚𝑟 2 )𝜔2
2

We knew that the expression 𝑚𝑟 2 is the moment of inertia of a particle, therefore the general equation for rotational kinetic
energy is,

𝟏 𝟐
𝑲𝒓 = 𝑰𝝎
𝟐

Where:
𝐼 − 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎, 𝑘𝑔 ∙ 𝑚2
𝜔 − 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝑟𝑎𝑑/𝑠
𝐾𝑟 − 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑘𝑖𝑛𝑒𝑡𝑖𝑐 𝑒𝑛𝑒𝑟𝑔𝑦, 𝐽

From this equation we see that in order for a rotating body to

possess large amount of energy, its moment of inertia and its
angular speed must be as large as possible. In order to change
the rotational kinetic energy of a body, work must be done. The
work energy theorem we have discussed is also applicable in
thus situation. Considering rotational motion, the work-energy
Theorem states that, the network done by external forces in
rotating a symmetric rigid body about a fixed axis is equal to the
change in the object’s rotational kinetic energy.

𝟏
∑𝑾 = ∆𝑲𝒓 = 𝑰(𝝎𝒇 𝟐 − 𝝎𝒊 𝟐 )
𝟐

Where:
∑𝑊 − 𝑡𝑜𝑡𝑎𝑙 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑤𝑜𝑟𝑘, 𝐽
∆𝐾𝑟 − 𝑐ℎ𝑎𝑛𝑔𝑒 𝑖𝑛 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑘𝑖𝑛𝑒𝑡𝑖𝑐 𝑒𝑛𝑒𝑟𝑔𝑦, 𝐽
𝐼 − 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎, 𝑘𝑔 ∙ 𝑚2
𝜔𝑖 − 𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝑟𝑎𝑑/𝑠
𝜔𝑓 − 𝑓𝑖𝑛𝑎𝑙 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝑟𝑎𝑑/𝑠

22
 Another important quantity in rotational motion is power. Rotational Power, 𝑷𝒓 is the rate of doing rotational
work and it is expressed as,

𝑷𝒓 = ∑𝝉𝝎

Where:
∑𝜏 − 𝑒𝑥𝑡𝑒𝑟𝑛𝑎𝑙 𝑜𝑟 𝑛𝑒𝑡 𝑡𝑜𝑟𝑞𝑢𝑒, 𝑁 ∙ 𝑚
𝜔 − 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝑟𝑎𝑑/𝑠
𝑃𝑟 − 𝑖𝑛𝑠𝑡𝑎𝑛𝑡𝑎𝑛𝑒𝑜𝑢𝑠 𝑟𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑝𝑜𝑤𝑒𝑟, 𝑊

Rotational power is one of the important quantities that describes the performance of engines. The power output of internal
combustion engines can be determined by multiplying the torque produced by its crankshaft and its angular speed.
Now, let us consider a rolling body, for example,
a wheel. A rolling body consists of two types of motion:
translational motion and rotational motion. As the wheel
rolls over a surface, its axis of rotation and the entire
wheel, travels parallel to the surface (which is considered
as translational) and at the same time, the wheel is
rotating. Therefore, if a rigid body rolls over a surface
without slipping, the body contains both rotational and
translational kinetic energy, and its total kinetic energy is
given by the equation,

𝟏 𝟐 𝟏
𝑲= 𝑰𝝎 + 𝒎𝒗𝟐
𝟐 𝟐

Where:
𝐼 − 𝑚𝑜𝑚𝑒𝑛𝑡 𝑜𝑓 𝑖𝑛𝑒𝑟𝑡𝑖𝑎, 𝑘𝑔 ∙ 𝑚2
𝜔 − 𝑎𝑛𝑔𝑢𝑙𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝑟𝑎𝑑/𝑠
𝑚 − 𝑚𝑎𝑠𝑠 𝑜𝑓 𝑟𝑜𝑙𝑙𝑖𝑛𝑔 𝑏𝑜𝑑𝑦, 𝑘𝑔
𝑣 − 𝑙𝑖𝑛𝑒𝑎𝑟 𝑣𝑒𝑙𝑜𝑐𝑖𝑡𝑦, 𝑚/𝑠
𝐾 − 𝑘𝑖𝑛𝑒𝑡𝑖𝑐 𝑒𝑛𝑒𝑟𝑔𝑦 𝑜𝑓 𝑎 𝑟𝑜𝑙𝑙𝑖𝑛𝑔 𝑏𝑜𝑑𝑦, 𝐽

6.3.7 Conservation of Mechanical Energy Considering Rotational Motion

In unit 3, we have discussed the two-way conversion of potential and kinetic energies. Now, we are going to expand
this conservative law to include the rotational kinetic energy of a body. We will still apply the concept the idea that the
mechanical energy of the system remains constant, that is the initial total mechanical energy of the system is equal to the
final total mechanical energy.

∑𝑬𝒊 = ∑𝑬𝒇
𝑼𝒊 + 𝑲𝒊 = 𝑼𝒇 + 𝑲𝒇

Where:
∑𝐸𝑖 − 𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑡𝑜𝑡𝑎𝑙 𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙 𝑒𝑛𝑒𝑟𝑔𝑦, 𝐽
∑𝐸𝑓 − 𝑓𝑖𝑛𝑎𝑙 𝑡𝑜𝑡𝑎𝑙 𝑚𝑒𝑐ℎ𝑎𝑛𝑖𝑐𝑎𝑙, 𝐽
𝑈𝑖 − 𝑖𝑛𝑖𝑡𝑖𝑎𝑙 𝑝𝑜𝑡𝑒𝑛𝑡𝑖𝑎𝑙 𝑒𝑛𝑒𝑟𝑔𝑦, 𝐽
𝑈𝑓 − 𝑓𝑖𝑛𝑎𝑙 𝑝𝑜𝑡𝑒𝑛𝑡𝑖𝑎𝑙 𝑒𝑛𝑒𝑟𝑔𝑦, 𝐽
𝐾𝑖 − 𝑖𝑛𝑖𝑡𝑖𝑡𝑎𝑙 𝑡𝑜𝑡𝑎𝑙 𝑘𝑖𝑛𝑒𝑡𝑖𝑐 𝑒𝑛𝑒𝑟𝑔𝑦, 𝐽
𝐾𝑓 − 𝑓𝑖𝑛𝑎𝑙 𝑡𝑜𝑡𝑎𝑙 𝑘𝑖𝑛𝑒𝑡𝑖𝑐 𝑒𝑛𝑒𝑟𝑔𝑦, 𝐽
To illustrate this, consider a wheel which is initially resting on an inclined plane. Since it has initial height from the
reference line, it possesses gravitational potential energy (𝑈𝑖 > 0). It has no kinetic energy (both translational and rotational),

23
since it is initially at rest (𝐾𝑖 = 0). Once we release the wheel, its weight creates net torque that causes the wheel to rotate
as it translates down the inclined plane. Its potential energy is converted into translational and kinetic energies at the bottom
of the inclined plane (𝐾𝑓 > 0).

Sample Problem – Angular Momentum and Rotational Kinetic Energy

PROBLEM NO. 9
A bowling ball of mass 7.00 kg and radius of 12.0 cm is spinning at 10 rev/s as shown in the figure below. Assume that the
ball a uniform solid sphere, determine the magnitude of its (a) angular momentum; and rotational kinetic energy.
Given:
Mass 𝑚 = 7.00 𝑘𝑔
Radius, 𝑟 = 12.0 𝑐𝑚 = 0.12 𝑚
Angular speed, 𝜔 = 10 𝑟𝑒𝑣/𝑠
Required:
(a) 𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚, 𝐿
(b) 𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑘𝑖𝑛𝑒𝑡𝑖𝑐 𝑒𝑛𝑒𝑟𝑔𝑦, 𝐾𝑟
Solution:
(a) 𝐴𝑛𝑔𝑢𝑙𝑎𝑟 𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚, 𝐿

Solving for 𝐼 (The bowling ball is considered as solid sphere)

2 2
𝐼 = 𝑚𝑟 2 = (7.00 𝑘𝑔)(0.12 𝑚)2
5 5
𝐼 = 0.04032 𝑘𝑔 ∙ 𝑚2
Convert 𝜔 to rad/s
𝑟𝑒𝑣 2𝜋 𝑟𝑎𝑑
𝜔 = 10 𝑥
𝑠 1 𝑟𝑒𝑣
𝜔 = 62.83 𝑟𝑎𝑑/𝑠

Now we solve for 𝐿

𝐿 = 𝐼𝜔
𝐿 = (0.04032 𝑘𝑔 ∙ 𝑚2 )(62.83 𝑟𝑎𝑑/𝑠)
𝐿 = 2.53 𝑘𝑔 ∙ 𝑚2 /𝑠
(b) 𝑅𝑜𝑡𝑎𝑡𝑖𝑜𝑛𝑎𝑙 𝑘𝑖𝑛𝑒𝑡𝑖𝑐 𝑒𝑛𝑒𝑟𝑔𝑦, 𝐾𝑟

From
1
𝐾𝑟 = 𝐼𝜔2
2

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 1
𝐾𝑟 = (0.04032 𝑘𝑔 ∙ 𝑚2 )(62.83 𝑟𝑎𝑑/𝑠)2
2
𝐾𝑟 = 79.59 𝐽

CHECK WHAT HAVE YOU LEARNED!

Exercise no. 5
Course/Year/Section: ______________ Seat no. ___ Date submitted: __________ Due date: _________
Name: ______________________________________ Teacher: __________________________________

A 200-hp engine rotates at an angular speed of 500 rpm. Determine the torque produced by the engine.

Sample Problem – Conservation of Mechanical Energy Considering Rotational Motion

PROBLEM NO. 10
A 1.50 kg solid cylinder of radius 10.0 cm, initially at rest, rolls from the top of a 30.0° inclined plane. If the length of the
inclined plane is 2.00 m, what is the linear velocity of the cylinder at instant it reached the bottom part of the plane.
Given:
Mass of solid cylinder, 𝑚 = 1.50 𝑘𝑔
Radius, 𝑟 = 10.0 𝑐𝑚 = 0.10 𝑚
Initial velocity, 𝑣𝑖 = 0, 𝜔𝑖 = 0
𝜃 = 30.0°
Length of inclined plane, 𝑙 = 2.00 𝑚
Required:
Final linear velocity, 𝑣𝑓
Solution:

From
∑𝐸𝑖 = ∑𝐸𝑓
𝑈𝑖 + 𝐾𝑖 = 𝑈𝑓 + 𝐾𝑓 → 𝑒𝑞𝑢𝑎𝑡𝑖𝑜𝑛 ①

At the top of the plane,

25
 𝑈𝑖 = 𝑚𝑔ℎ𝑖 = 𝑚𝑔(𝑙 sin 𝜃)
𝐾𝑖 = 0

At the bottom of the plane,

𝑈𝑓 = 0
1 1
𝐾𝑓 = 𝐼𝜔𝑓 2 + 𝑚𝑣𝑓 2
2 2

To further simplify, we solve for 𝐼 and we express 𝜔𝑓 in terms of 𝑣𝑓

1
𝐼 = 𝑚𝑟 2
2
From
[𝑣 = 𝑟𝜔]
𝑣𝑓
𝜔𝑓 =
𝑟
With these, equation ① becomes
1 1 𝑣𝑓 2 1
𝑚𝑔(𝑙 sin 𝜃) + 0 = 0 + [ ( 𝑚𝑟 2 ) ( ) + 𝑚𝑣𝑓 2 ]
2 2 𝑟 2
Solve for 𝑣𝑓
1 1 𝑣𝑓 2 1
𝑚𝑔(𝑙 sin 𝜃) = ( 𝑚𝑟 2 ) ( ) + 𝑚𝑣𝑓 2
2 2 𝑟 2
1 2 1 2
𝑔(𝑙 sin 𝜃) = 𝑣𝑓 + 𝑣𝑓
4 2
3 2
𝑔(𝑙 sin 𝜃) = 𝑣𝑓
4
2
4𝑔(𝑙 sin 𝜃)
𝑣𝑓 =
3
We see that this equation for 𝑣𝑓 is independent of mass 𝑚 and radius 𝑟 of the cylinder. Finally, we take square root
both sides of the equation.

4𝑔(𝑙 sin 𝜃) 4(9.8 𝑚/𝑠 2 )(2.00 𝑚 sin 30.0°)

𝑣𝑓 = √ =√
3 3
𝑣𝑓 = 3.61 𝑚/𝑠

FURTHER READINGS/EXPLORATION
Related PhET Simulations

UNIT TASK
• Problem Set no. 6
• Quiz no. 3

REFERENCES
• Serway and Vuille (2012), College Physics, 9th Edition, Cengage Learning
• Serway and Jewett (2014), Physics for Scientists and Engineers, 9th Edition, Brooks/ Cole Cengage Learning
• Microsoft Student with Encarta Premium 2009 DVD
• PhET Simulations
• https://cdn.pixabay.com/photo/2016/11/15/09/24/builders-1825689_960_720.jpg
• https://www.bbc.co.uk/bitesize/guides/zkwxgwx/revision/6#:~:text=Stability%20is%20a%20measure%20of,edge%2C%20on%20which%20it% 20balances.
• london PNG Designed By praying from <a href="https://pngtree.com/">Pngtree.com</a>

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• https://www.google.com/url?sa=i&url=https%3A%2F%2Fpngtree.com%2Ffreepng%2Flondon-vector-double-decker-front-red-
bus_4018623.html&psig=AOvVaw3a8M81UWRpmibW7cSFyYy-
&ust=1598052425036000&source=images&cd=vfe&ved=0CAIQjRxqFwoTCODM5qv3qusCFQAAAAAdAAAAABAD

27
Problem Set no. 6 Rotational Equilibrium and Rotational Dynamics

Name: _____________________________________________ Seat no.: _____ Score: __________/

Course/Year/Sec: _____________Sem. /S.Y.: ___________ Instructor: _______________________________
Date Started: _________________ Date Finished: _________________Date Submitted: _________________

Directions
1. Write the solution to each question on separate short bond paper. Follow the format as explained by
your teacher.
2. Summarize all your answers on the “Summary of Answers” section provided.

Summary of Answers

1. ______________________________________________________________________________

2. ______________________________________________________________________________

3. ______________________________________________________________________________

4. ______________________________________________________________________________

5. ______________________________________________________________________________

6. ______________________________________________________________________________

7. ______________________________________________________________________________

8. ______________________________________________________________________________

9. ______________________________________________________________________________

28
Problems

1. A rod 7.00 m long is pivoted at point 2.00 m from the left end. A downward force of 50.0 N acts at
the left end, and a downward force of 200 N acts at the right end. (a) At what distance to the right of
the pivot can a third force of 300 N acting upward be placed to produce rotational equilibrium?
Neglect the weight of the rod. (b) Determine the magnitude and direction of the reaction in the
pivot?

2. A 60-lb cement is placed on a 10-ft long plank 4 ft from one end. The plank itself weighs 20 lb. Two
men pick up the plank, one at each end. How much weight must each support?

3. Two masses of 50.0 grams and 100 grams are placed on a 200-gram uniform meter stick. The 50 g
mass is placed on the 10.0 cm mark while the 100 g is at 80.0 cm mark. Locate the center of gravity
of the system of weights including the meterstick.

4. In the figure shown below, what force in the chain is needed to support the car? Compute also for
the horizontal and vertical reactions in the hinge. Assume that the center of gravity of the car is
located the axis of symmetry.

5. An electric motor turns a flywheel through a drive belt that joins a pulley on the motor and a pulley
that is rigidly attached to the flywheel as shown in the figure below. The flywheel is a solid disk with
a mass of 80.0 kg and a radius R = 0.625 m. It turns on a frictionless axle. Its pulley has much smaller
mass and a radius of r = 0.230 m. The tension 𝑇𝑢 in the upper (*taut) segment of the belt is 135 N,
and the flywheel has a clockwise angular acceleration of 1.67 rad/s2. (a) Find the net torque of the
acting on the flywheel. (b) Find the tension in the lower (slack) segment of the belt.

6. A 150-kg merry-go-round in the shape of a uniform, solid, horizontal disk of radius 1.50 m is set in
motion by wrapping a rope about the rim of the disk and pulling on the rope. (a) What constant
force must be exerted on the rope to bring the merry-go-round from rest to an angular speed of
0.500 rev/s in 2.00 s? (b) What is the angular momentum of the disk during this time?

7. A counterweight of mass m = 4.00 kg is attached to a light cord that is wound around a pulley as in
the figure below. The pulley is a thin hoop of radius R = 8.00 cm and mass M = 2.00 kg. The spokes
have negligible mass. (a) What is the magnitude of the net torque on the system about the axle of

29
 the pulley? (b) When the counterweight has a speed of 0.4 m/s determine the angular momentum
of the system about the axle of the pulley. (c) calculate the acceleration of the counterweight. (d)
From rest how long does the counterweight move to attain 0.4 m/s?

8. Disk 1 with radius 20 cm and mass of 10.0 kg rotates about a frictionless, vertical axle with angular
speed of 100 rpm. A second disk 2 with radius 10 cm and mass of 2.5 kg drops onto the first disk.
Because of friction between the surfaces, the two eventually reach the same final angular speed. (a)
Calculate the final angular speed. (b) Calculate ratio of the final to the initial total rotational energy
of the two disks.

9. A cylinder of mass 10.0 kg rolls without slipping on a horizontal surface. At a certain instant, its
center of mass has a speed of 10.0 m/s. Determine (a) the translational kinetic energy of its center of
mass, (b) the rotational kinetic energy about its center of mass, and (c) its total kinetic energy.

30