Chapter 9: Rotational Motion

Rigid body instead of a particle

Rotational motion about a fixed axis
Rolling motion (without slipping)
Rotational Motion
 Angular Quantities
Kinematical variables to describe the rotational motion:
Angular position, velocity and acceleration

l
 ( rad )
R
 d
  lim  ( rad/s )
t 0 t dt

 ave

 d
  lim  ( rad/s 2 )
t 0 t dt

 ave
Rotational Motion
 “R” from the Axis (O)

Solid Disk Solid Cylinder

Rotational Motion
 Linear and Angular Quantities
 l
(1)      t (like l  v t )
 R
 l  ( R )t
 v  R
dv d
(2) a tan  R atan
dt dt
 a tan  R arad
2
v (R)
2
(3) a rad    R
2

R R
Rotational Motion
 Kinematical Equations

Conversion : x   , v   , a  
1 2
(1)    0   0t  t
2
(2)    0  t
(3)     2 ( -  0 )
2 2
0

Note :   constant
Rotational Motion
 Chapter 10:
Rotational Motion (II)

Rigid body instead of a particle

Rotational motion about a fixed axis
Rotational dynamics
Rolling motion (without slipping)
Rotational Motion
 Angular Quantities: Vector
Kinematical variables to describe the rotational motion:
Angular position, velocity and acceleration
Vector natures z

l
 ( rad )
R
ˆ d ˆ
k k ( rad/s ) R.-H. Rule
dt
ˆ d ˆ
k 2
k ( rad/s ) y
dt
x

Rotational Motion
 Rotational Dynamics: 
ax (a)
la
(b)
lb 

m
I

a x  F cos   F ;   l    F l
 F cos  m a x F  l  I 
  (torque)  F  l (magnitude)
Rotational Motion
 Note:  = F R sin
Lever arm : l or R
(Perpendicular distance ...)

  F ( R sin )  F  R

  ( F sin ) R  F  R
Rotational Motion
 Note: sign of 
 1  F1 ( R1 sin 90 )
 (50.0 N)(0.300 m)  15.0 N  m
 2  F2 ( R2 sin 60 )
 (50.0 N)(0.500 m)(0.866)
 21.7 N  m
 net   1 (c.c.w )   2 (c.w.)
  1 (1)   2 (1)
 (15.0 N  m) - (21.7 N  m)
 - 6.7 N  m  6.7 N  m (c.w.)
Rotational Motion
 Rotational Dynamics: I
F  m a  m ( R  )   (torque)  F  R  (m R 2 ) 
(b) I   m i Ri
2
(a) I  m R 2

(moment of inertia (moment of inertia

for single particle) for a group of particles)
m2

m1

Rotational Motion m3
 Rotational Dynamics: I
I  I cm (moment of intertia about the c.m.)

I  I cm  Md (parallel - axis theorem)

2

Rotational Motion
 Parallel-axis Theorem

I  I cm  Md 2
1 2 2
 MR0  MR0
2
3 2
 MR0
2
Rotational Motion
 Parallel-axis Theorem

2 2
l 1 l 1
Ig  If  M    M l  M  M l 2
2

 2  12 4 3

Rotational Motion
 Example 1
Calculate the torque on the 2.00-m long
beam due to a 50.0 N force (top) about
(a) point C (= c.m.)
(b) point P
Calculate the torque on the 2.00-m long
beam due to a 60.0 N force about
(a) point C (= c.m.)
(b) point P
Calculate the torque on the 2.00-m long
beam due to a 50.0 N force (bottom) about
(a) point C (= c.m.)
(b) point P
Rotational Motion
 Example 1 (cont’d)
Calculate the net torque on the 2.00-m
long beam about
(a) point C (= c.m.)
(b) point P

Rotational Motion