Physics 111: Lecture 17

Todays Agenda
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Rotational Kinematics
Analogy with one-dimensional kinematics

Kinetic energy of a rotating system

Moment of inertia
Discrete particles
Continuous solid objects

Parallel axis theorem

Physics 111: Lecture 17, Pg 1

Rotation
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Up until now we have gracefully avoided dealing with the

rotation of objects.
We have studied objects that slide, not roll.
We have assumed pulleys are without mass.

Rotation is extremely important, however, and we need to

understand it!

Most of the equations we will develop are simply rotational

analogues of ones we have already learned when studying
linear kinematics and dynamics.

Physics 111: Lecture 17, Pg 2

Lecture 17, Act 1

Rotations
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Bonnie sits on the outer rim of a merry-go-round, and Klyde

sits midway between the center and the rim. The merry-goround makes one complete revolution every two seconds.
Klydes angular velocity is:

(a) the same as Bonnies

(b) twice Bonnies
(c) half Bonnies

Physics 111: Lecture 17, Pg 3

Lecture 17, Act 1

Rotations
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Kecepatan anguler w pada setiap obyek yang berputar pada

poros yang saman besarnya sama akan tetapi ke.
Both Bonnie & Klyde go around once (2p radians) every
two seconds.cepatan liniernya berbeda tergantung
letaknya karena
v = wr).
w

VKlyde

1
VBonnie
2

Physics 111: Lecture 17, Pg 4

Rotational Variables.
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Spin round
blackboard

Rotation about a fixed axis:

Consider a disk rotating about
an axis through its center:
First, recall what we learned about
Uniform Circular Motion:

d
dt

(Analogous to v

dx
)
dt

Physics 111: Lecture 17, Pg 5

Rotational Variables...
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Now suppose w can change as a function of time:

We define the
dw d 2
angular acceleration:
2
dt
dt
Consider the case when
is constant.
We can integrate this to
find w and as a function of time:

constant
w w 0 t
1
0 w 0t t 2
2
Physics 111: Lecture 17, Pg 6

Putaran yang berubah...

constant
w w0 t
1
0 w0 t t 2
2
Ingat juga pada gerak yg berpusat di
a jaraknya R dihitung dari pusatnya
hingga:
x = R
v = wR
Dengan cara yg sama didapat pula:
a = R

Physics 111: Lecture 17, Pg 7

Summary
(perbandingan antara gerak lurus dan
melingkar)
Angular

Linear

a constant

constant

w w0 t

v v 0 at

1
0 w 0 t t 2
2

x x 0 v 0t

1 2
at
2

And for a point at a distance R from the rotation axis:

x = R

v = wR

a = R

Physics 111: Lecture 17, Pg 8

Example: Wheel And Rope

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A wheel with radius R = 0.4 m rotates freely about a fixed

axle. There is a rope wound around the wheel. Starting
from rest at t = 0, the rope is pulled such that it has a
constant acceleration a = 4 m/s2. How many revolutions
has the wheel made after 10 seconds?
(One revolution = 2p radians)

Physics 111: Lecture 17, Pg 9

Wheel And Rope...

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Use a = R to find :
= a / R = 4 m/s2 / 0.4 m = 10 rad/s2
Now use the equations we derived above just as you would
use the kinematic equations from the beginning of the
semester.
1
1
0 w0 t t 2 = 0 + 0(10) + (10)(10)2 = 500 rad
2
2

500 rad x

1 rot
2p rad

80 rev

Physics 111: Lecture 17, Pg 10

Rotation & Kinetic Energy

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Consider the simple rotating system shown below.

(Assume the masses are attached to the rotation axis by
massless rigid rods).
The kinetic energy of this system will be the sum of the
kinetic energy of each piece:
m4

m3

r1 m1

r4
r3

r2

m2

Physics 111: Lecture 17, Pg 11

Rotation & Kinetic Energy...

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1
EK mi vi2
i 2

So:

but vi = wri

1
1 2
2
2
EK mi wri w mi ri
2i
2 i
v1

which we write as:

EK

1 2
Iw
2

I mi ri

m4
v4

m3

Define the moment of inertia

about the rotation axis

r1 m1

r4

v2
r3

r2

m2

v3
I has units of kg m2.
Physics 111: Lecture 17, Pg 12

Rotation & Kinetic Energy...

The kinetic energy of a rotating system looks similar to that
of a point particle:
Point Particle
K

1
mv 2
2

v is linear velocity
m is the mass.

Rotating System
1
I w2
2
w is angular velocity
I is the moment of inertia
about the rotation axis.
K

I mi ri 2
i
Physics 111: Lecture 17, Pg 13

Moment of Inertia
So K

1
I w2
2

Inertia Rods

2
where I mi ri
i

Notice that the moment of inertia I depends on the

distribution of mass in the system.
The further the mass is from the rotation axis, the bigger
the moment of inertia.
For a given object, the moment of inertia will depend on
where we choose the rotation axis (unlike the center of
mass).
We will see that in rotational dynamics, the moment of
inertia I appears in the same way that mass m does when
we study linear dynamics!
Physics 111: Lecture 17, Pg 14

USAHA TORSI ( GAYA PUTAR )

DAN DAYA
Recall W = F d cos
For a wheel
W = Ftangential d
= Ftangential 2 p r / (2 p) ( in radians)
= Ftangential r
=t
P = W/t = t /t
t w

Physics 111: Lecture 17, Pg 15

USAHA TORSI ( GAYA PUTAR )

DAN DAYA
t = F. r = m.a. r
m. . r. r
= m. r 2.
t I.
P = I. . w

Physics 111: Lecture 17, Pg 16

Calculating Moment of Inertia

We have shown that for N discrete point masses distributed
about a fixed axis, the moment of inertia is:
I

mi ri 2

where r is the distance from the mass

to the axis of rotation.

i 1

Example: Calculate the moment of inertia of four point masses

(m) on the corners of a square whose sides have length L,
about a perpendicular axis through the center of the square:

Physics 111: Lecture 17, Pg 17

Calculating Moment of Inertia...

The squared distance from each point mass to the axis is:
2

L2
L
2
r 2
2
2

Using the Pythagorean Theorem

2
2
2
2
2
L
L
L
L
L
so I mi ri m m m m 4 m
i 1
2
2
2
2
2
N

I = 2mL2

L/2

L
m

m
Physics 111: Lecture 17, Pg 18

Calculating Moment of Inertia...

Now calculate I for the same object about an axis through
the center, parallel to the plane (as shown):
L2
L2
L2
L2
L2
I mi ri m m m m 4 m
i 1
4
4
4
4
4
N

r
I = mL2

Physics 111: Lecture 17, Pg 19

Calculating Moment of Inertia...

Finally, calculate I for the same object about an axis along
one side (as shown):
N

I mi ri mL2 mL2 m0 2 m0 2
2

i 1

r
I = 2mL2

Physics 111: Lecture 17, Pg 20

Calculating Moment of Inertia...

For a single object, I clearly depends on the rotation axis!!

I = 2mL2

I = mL2

I = 2mL2

Physics 111: Lecture 17, Pg 21

Lecture 17, Act 2

Moment of Inertia
A triangular shape is made from identical balls and identical
rigid, massless rods as shown. The moment of inertia about
the a, b, and c axes is Ia, Ib, and Ic respectively.
Which of the following is correct:

(a)

Ia > Ib > Ic

(b)

Ia > Ic > Ib

(c)

Ib > Ia > Ic

Physics 111: Lecture 17, Pg 22

Lecture 17, Act 2

Moment of Inertia
Label masses and lengths:
Calculate moments of inerta:
Ia m2 L m2 L 8 mL2
2

I b mL2 mL2 mL2 3 mL2

Ic m2 L 4 mL2
2

a
L
b

So (b) is correct: Ia > Ic > Ib

L
c
m

m
Physics 111: Lecture 17, Pg 23

Calculating Moment of Inertia...

For a discrete collection of point
masses we found:
I

mi ri 2

i 1

For a continuous solid object we have to add up the mr2

contribution for every infinitesimal mass element dm.
dm
We have to do an
integral to find I :

I r 2 dm

Physics 111: Lecture 17, Pg 24

Moments of Inertia

Hoop

Some examples of I for solid objects:

I MR 2
R

Thin hoop (or cylinder) of mass M and

radius R, about an axis through its center,
perpendicular to the plane of the hoop.

1
MR 2
2
Thin hoop of mass M and radius R,
about an axis through a diameter.

Physics 111: Lecture 17, Pg 25

Sphere and disk

Moments of Inertia...
Some examples of I for solid objects:
2
I MR 2
5
Solid sphere of mass M and radius R,
R
about an axis through its center.

I
R

1
MR 2
2

Solid disk or cylinder of mass M and

radius R, about a perpendicular axis
through its center.

Physics 111: Lecture 17, Pg 26

Lecture 17, Act 3

Moment of Inertia
Two spheres have the same radius and equal masses. One
is made of solid aluminum, and the other is made from a
hollow shell of gold.
Which one has the biggest moment of inertia about an axis
through its center?
(a) solid aluminum

(b) hollow gold

(c) same

hollow

solid

same mass & radius

Physics 111: Lecture 17, Pg 27

Lecture 17, Act 3

Moment of Inertia
Moment of inertia depends on mass (same for both) and
distance from axis squared, which is bigger for the shell since
its mass is located farther from the center.
The spherical shell (gold) will have a bigger moment of
inertia.
ISOLID < ISHELL
hollow

solid

same mass & radius

Physics 111: Lecture 17, Pg 28

Moments of Inertia...

Rod

Some examples of I for solid objects (see also Tipler, Table 9-1):
I

1
ML2
12
Thin rod of mass M and length L, about
a perpendicular axis through its center.

1
I ML2
3
Thin rod of mass M and length L, about
a perpendicular axis through its end.

Physics 111: Lecture 17, Pg 29

Parallel Axis Theorem

Suppose the moment of inertia of a solid object of mass M
about an axis through the center of mass, ICM, is known.
The moment of inertia about an axis parallel to this axis but
a distance D away is given by:

IPARALLEL = ICM + MD2

So if we know ICM , it is easy to calculate the moment of

inertia about a parallel axis.

Physics 111: Lecture 17, Pg 30

Parallel Axis Theorem: Example

Consider a thin uniform rod of mass M and length D. Figure
out the moment of inertia about an axis through the end of
the rod.
D=L/2
M
CM
2
IPARALLEL = ICM + MD
x
L
We know ICM

So

1
ML2
12

IEND

IEND

ICM

1
L2 1

2
ML M ML2
2
12
3

which agrees with the result on a previous slide.

Physics 111: Lecture 17, Pg 31

Connection with CM motion

Recall what we found out about the kinetic energy of a
system of particles in Lecture 15:
1
1
2
K NET mi ui2 MVCM
2
2

KREL
KCM

For a solid object rotating about its center of mass, we

now see that the first term becomes:

1
K REL mi ui 2
2
1
K REL w 2 mi ri 2
2
K REL

Substituting ui w ri
but

mi ri

ICM

1
ICM w 2
2
Physics 111: Lecture 17, Pg 32

Connection with CM motion...

So for a solid object which rotates about its center or mass
and whose CM is moving:
K NET

1
1
2
ICM w 2 MVCM
2
2

VCM

w
We will use this formula more in coming lectures.

Physics 111: Lecture 17, Pg 33

Recap of todays lecture

Rotational Kinematics
(Text: 9-1)
Analogy with one-dimensional kinematics
Kinetic energy of a rotating system
Moment of inertia
Discrete particles
Continuous solid objects

(Text: 9-2, 9-3, Table 9-1)

(Text: 9-3)
(Text: 9-3)

Parallel axis theorem

(Text: 9-3)

Look at textbook problems Chapter 9: # 7, 11, 27, 31, 33, 37

Physics 111: Lecture 17, Pg 34