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TopCoaching Lessons :: Mechanics

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Home > JEE Complete Physics > Mechanics

JEE Complete Physics

Mechanics: Rotation II: Translation and Rotation

Consider the motion of a wheel moving on a smooth surface. The angular velocity of the wheel is and the velocity of the centre of mass of the wheel is v.

In this situation, take a look at the velocity of different parts of the wheel. The uppermost end of the wheel will have a velocity v + R. The velocity v will be there for every part of the wheel as every part of the wheel is definitely moving forward with a velocity v. The velocity R will be directed tangential to the wheel because the wheel is rotating with an angular velocity . The figure below shows the velocity of the top most part of the wheel.

Can you see the velocity of the lower most part of the wheel? The centre of mass velocity of the bottom part of the wheel, just like all other parts is v to the right. The tangential velocity because of rotation is R to the left. Therefore the velocity of the lowest part of the wheel is v R. The velocity of any part of the wheel can similarly be calculated by adding the tangential velocity vector because of pure rotation and the centre of mass velocity vector. The figure above clearly shows the different velocity vectors at different points on the wheel because of pure rotation and because of the motion of the centre of mass. Pure Rolling

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We just saw that the net velocity of the bottom point of the wheel was v R. What is v R was zero or v was exactly equal to R?
Note that v is the velocity of the centre of mass and is completely different from the velocity because of the rotation of the body R. Still, if somehow these two values are equal and the velocity of the bottom part of the wheel is zero, then the wheel will be said to be undergoing pure rolling. The condition of pure rolling is also called the condition of rolling without slipping and the condition of no relative motion at the point of contact.

The figure below shows the velocities of different parts of a rotating disc under the condition of pure rolling.

Note that in the case of pure rolling it is not necessary that the absolute velocity of the lowest point of the disc should be zero. What is essential is that the relative velocity of the lowest point of the disc with respect to the surface it is in contact with, should be zero. Thus, the figure below also represents pure rolling even though the absolute velocity of the lowest point of the disc is not zero.

When the velocity of the lowest portion of the disc is greater than the velocity of the floor or plank on which it is moving, then the disc is said to be undergoing forward slipping. If the floor is at rest, you can say that forward slipping occurs when v > R. Similarly, when the velocity of the lowest part of the disc is less than that of the plank, the disc is said to be undergoing backward slipping. If the floor is at rest, you can say that backward slipping occurs when v < R. Another important fact that you must note here is that we are talking about uniform pure rolling here, that is we are not considering any forces to be acting on the rolling disc. We are also not talking about the force of friction that might help or hinder rolling. We will talk about accelerated pure rolling in which friction and other forces play a role, in the next chapter. Kinetic Energy of a Body That Undergoes Both Rotational and Translational Motion We had learnt in the previous chapter that when a body rotates about a stationary axis, its rotational kinetic energy is I2 . The kinetic energy of a body that undergoes both translational and rotational motion is both translational and rotational. Thus, if the centre of mass of a disc has the velocity v and if the angular velocity of the disc is , in that case the net kinetic energy of the disc will be: mv2 + I2 Note that here v represents the centre of mass of the body and I represents the moment of inertia of the body about the axis passing through the centre of mass. Example Problem 1 (IIT-JEE, 1999)

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A disc of mass M and radius R is rolling with angular speed on a horizontal plane as shown. The magnitude of angular momentum of the disc about the origin O is: a) b) (1/2)MR2 MR2

c) (3/2)MR2 d) 2MR2 Solution In this case both translation and rotation is occurring as the disc is said to be rolling. Therefore the expression for angular momentum will be:

The velocity of the centre of mass of the disc is shown below.

This is because the disc is rolling and in case of pure rolling on a stationary surface, v R = 0 or v = R. Thus, angular momentum in the centre of mass frame is I = MR2 /2. The direction of the angular momentum is inwards into the plane of paper as the thumb points inwards when we curl our fingers in the direction of rotation. The angular momentum of the centre of mass about the point O is p(perpendicular from O on the linear momentum vector) = Mv(R) = MR(R) = MR2 . This angular momentum vector points into the plane of paper as the thumb points inwards when we curl our fingers from the position vector of the centre of mass towards the linear momentum vector. Hence, the net angular momentum (inwards into the plane of paper) is MR2/2 + MR2 = (3/2) MR2 . The correct option therefore is c). Example Problem 2 (IIT-JEE, 2004) A disc is rolling (without slipping) on a horizontal surface. C is its centre and Q and P are two points equidistant from C. let vP, vQ and vC be the magnitude of velocities of points P, Q and C respectively, then:

a)

vQ > vC > vP

b) vQ < vC < vP c) vQ = vP, vC = (1/2)vP d) vQ < vC > vP

Solution The diagram below shows the velocities of points P, Q and C.

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The velocity of point C is clearly v as the rotational velocity of this point is zero. The velocity of Q is v+vcos in the horizontal direction and vsin in the vertical direction. This is because v = R because of pure rolling.

So net velocity of point Q is The velocity of P is v-vcos in the horizontal direction and vsin in the vertical direction. This is because v = R because of pure rolling.

So net velocity of point P is Clearly, vQ > vC > vP. Therefore option a) is correct. Example Problem 3 (IIT-JEE, 2006)

A ball moves over a fixed track as shown in the figure. From A to B the ball rolls without slipping. If surface BC is frictionless and KA, KB and KC are kinetic energies of the ball at A, B and C respectively then: a) b) c) d) hA>hC; KB>KC hA>hC; KC > KA hA=hC; KB=KC hA KC

Solution One important fact that we will learn more about in the next chapter is that the work done by friction is zero in the case of pure rolling. (We will learn why this is so in the next chapter). Therefore energy is conserved despite the presence of frictional force during pure rolling. Hence the mechanical energy at A = energy at B = energy at C. Energy at A = mghA where r is the radius of the ball. Energy at B = I1 2 + m1 2 r2 where 1 > as the potential energy of point A is getting converted to the kinetic energy at point B. Energy at C = I1 2 + mghB Now from B to C, the angular velocity remains constant because there is no torque to increase or decrease it (from A to B friction was providing the torque). However the velocity of the centre of mass decreases to accommodate for the increase in potential energy. Thus the translational kinetic energy of the ball gets converted to potential energy from B to C. You can therefore see that KB>KA Also, KB>KC as the translational kinetic energy gets converted to potential energy from B to C. Another important fact is that from A to B the potential energy of the ball gets converted into both translational and rotational kinetic energy while from B to C, only the translational energy of the ball gets converted to potential energy. Therefore, it is clear that the potential energy at A must be greater than the potential energy at C. Thus, hA > hC. a) is the correct answer.

Example Problem 4 (IIT-JEE, 2005)

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A uniform bar of length 6a and mass 8m lies on a smooth horizontal table. Two point masses m and 2m moving in the same horizontal plane with speed 2v and v respectively, strike the bar and stick to the bar after collision. Denoting angular velocity about the centre of mass , total energy and centre of mass velocity by , E and vC respectively, we have after collision: a) vC = 0 b) = 3v/5a c) = v/5a d) E = (3/5)mv2

Solution In this problem, net force on the system consisting of the bar and the masses is zero. Therefore the linear momentum and angular momentum are both conserved just before and after the collision. Conserving linear momentum in the direction perpendicular to the length of the rod, we have: 2mv 2mv = initial linear momentum = 0 = Net mass x vc = 0. Therefore vC = 0. Conserving angular momentum about the centre of mass of the system, we have: 2mva + 2mv(2a) = I I = moment of inertia of rod + the two masses about the COM = (8m)(6a)2 /12 + m(2a)2 + 2m(a)2 = 30ma2 . Therefore, = v/5a. The final energy of the system is I2 = 15ma2 (v2 /25a2 ) = 3mv2 /5. Therefore, options a), c) and d) are correct. Example Problem 5 (IIT-JEE, 2009)

A sphere is rolling without slipping on a fixed horizontal plane surface. In the figure, A is the point of contact. B is the centre of the sphere and C is the topmost point. Then,

Solution The figure below depicts the magnitudes of velocities of different points in the sphere.

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The figure clearly shows that:

are the correct options. Example Problem 6 (IIT-JEE, 2000) A rod AB of mass M and length L is lying on a horizontal frictionless surface. A particle of mass m travelling along the surface hits end A of the rod with a velocity vo in a direction perpendicular to AB. The collision is elastic. After the collision, the particle comes to rest. a) Find the ratio m/M. b) A point P on the rod is at rest immediately after collision. Find the distance AP. c) Find the linear speed of the point P a time L/3vo after the collision. Solution

The figure above shows what is happening in the question. In this question, we see that the net force on the system consisting of the particle and rod is zero, the net torque on this system is zero and there are no non-conservative forces. Therefore, the linear momentum of the system, the angular momentum of the system about the centre of mass and the net kinetic energy of the system are all conserved. Conserving linear momentum along the horizontal direction just before and after the collision, we have: mvo = 0 + Mv.(1) Conserving angular momentum about the axis passing through the centre of mass of the rod we get: mvo L/2 = 0 + I. Here we are assuming that the rod rotates with an angular velocity after collision. The rod also gets a translational velocity v but since we are already calculating the angular momentum about the axis passing through the centre of mass, therefore the effect of v will not be taken into account while calculating the angular momentum of the rod. I = ML2 /12 for the rod about its centre of mass therefore: Mvo = ML/6..(2) Conserving energy just before and after the collision: mvo 2 = Mv2 + I2 (3) From equations (1), (2) and (3), we get m/M = . We also get v = mvo /M and = 6mvo /ML.

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Now it is given that point P is at rest. We know that every point on the rod moves towards the right with a velocity = velocity of the centre of mass. The rod is also rotating at the same time. Therefore, at a certain point on the rod P, the net velocity of that point will be zero as v and r will be in opposite directions and equal where r is the distance of the point P from the centre of mass of the rod. Hence, at P, v = r or mvo /M = r x 6mvo /ML which gives r = L/6. As you can see point P lies between the centre of mass and B and its distance from A is L/2 + L/6 = 2L/3. The next part of the question asks us to find the linear velocity of point P at time t = L/3vo . After this time, the rod covers an angle of t = 6mvo /ML x L/3vo = /2. Therefore the rod looks like this:

Velocity of point P =

. .

Substituting the values of , v and r = L/6, we get the velocity at point P as vo /2

Lessons From the Same Topic

Introduction to Kinematics Kinematics of Projectile Motion Kinematics of circular motion Relative Velocity Newton Laws of Motion Application of Newtons Laws Friction Dynamics of Circular Motion Work, Power & Energy Centre of Mass and Related Concepts Conservation of Momentum & Collision Rotation I Pure Rotation Rotation II: Translation and Rotation Rotation III: Accelerated Pure Rolling and Related Concepts Gravitation Simple Harmonic Motion Properties of Matter Fluid Mechanics Revision Questions

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