Class 28 - Rolling, Torque and Angular Momentum

Chapter 11 - Friday October 29th

•Review of rolling motion
•Torque and angular momentum
•Newton's second law in angular form
•Conservation of angular momentum
•Demos and sample problems

Reading: pages 275 thru 281 (chapter 11) in HRW

Read and understand the sample problems
Assigned problems from chapter 11 (due at 11pm on
Sunday November 7th):
2, 6, 8, 12, 22, 24, 32, 38, 40, 50, 54, 64
Rolling motion as rotation and translation

s  R
The wheel moves with speed ds/dt
d
 vcom   R
dt
Rolling motion as rotation and translation

s  R
The wheel moves with speed ds/dt
d
 vcom   R
dt
The kinetic energy of rolling

K  12 I P 2 I P  I com  MR 2

K  12 I com 2  12 MR 2 2

K  12 I com 2  12 Mvcom
2
 K r  Kt
 Rolling down a ramp
•However, we do not really have to compute fs (see section 12-3).
•We can, instead, analyze the motion about P, in which case,
Fgsin is the only force component with a moment arm about P.

Use: torque = I a
N R  Fg sin   I Pa
acom  a R
Fg sin R fs x
Thus:

P MR 2 g sin    I P acom

  I P  I com  MR 2
Fg Fg cos g sin 
acom 
1  I com / MR 2
 Torque and angular momentum
  r F  definition 
•Torque was discussed in the previous chapter; cross products
are discussed in chapter 3 (section 3-7) and at the end of this
presentation; torque also discussed in this chapter (section 7).
Angular momentum l is defined as: l  r  p  m  r  v 

•Here, p is the linear momentum mv of

the object.
l  mvr sin 
 rp  rmv

 r p  r mv
•SI unit is Kg.m2/s.
 Torque and angular momentum
  r F  definition 
•Torque was discussed in the previous chapter; cross products
are discussed in chapter 3 (section 3-7) and at the end of this
presentation; torque also discussed in this chapter (section 7).
Angular momentum l is defined as: l  r  p  m  r  v 

•Here, p is the linear momentum mv of

the object.
l  mvr sin 
 rp  rmv

 r p  r mv
•SI unit is Kg.m2/s.
 Newton's second law in angular form
dp Linear form
Fnet 
dt
No surprise:
dl angular form
 net 
dt
The vector sum of all the torques acting on a particle is
equal to the time rate of change of the angular momentum.
For a system of many particles, the total angular momentum is:
n
L  l1  l2  l3    ln   li
i 1

dL n dli n
   net ,i   net
dt i 1 dt i 1
The net external torque acting on a system of particles is equal to
the time rate of change of the system's total angular momentum.
Angular momentum of a rigid body about a fixed axis
We are interested in the component of
angular momentum parallel to the axis of
rotation:
n n
Lz   liz   mi vi ri   vr dm
i 1 i 1

   r  r dm    r2 dm  I 

In fact: L  I
 Conservation of angular momentum
It follows from Newton's second law that:

If the net external torque acting on a system is zero, the

angular momentum of the system remains constant, no
matter what changes take place within the system.

L  a constant

Li  L f

I ii  I f  f

 f Ii

i I f
 Conservation of angular momentum
It follows from Newton's second law that:

If the net external torque acting on a system is zero, the

angular momentum of the system remains constant, no
matter what changes take place within the system.
What happens to kinetic energy?
L  a constant
 I 2 2 
i i Ii Ii
K f  2 I f f  2 I f  2  
1 2 1 1
I i  K i
2

Li  L f  I  I 2 i
If
 f  f

•Thus, if you increase  by reducing I, you end

I ii  I f  f up increasing K.
•Therefore, you must be doing some work.
 f Ii •This is a very unusual form of work that you do
 when you move mass radially in a rotating frame.
i I f •The frame is accelerating, so Newton's laws do
not hold in this frame
More on conservation of angular momentum
The vector product, or cross product
a  b  c , where c  ab sin 
a b   b  a  
Direction of c  to both a and b
ˆi  ˆi  ˆj  ˆj  kˆ  kˆ  0

ˆi  ˆj  kˆ ˆj  ˆi  kˆ

ˆj  kˆ  ˆi kˆ  ˆj  ˆi

kˆ  ˆi  ˆj ˆi  kˆ  ˆj
   
a  b  ax ˆi  a y ˆj  az kˆ  bx ˆi  by ˆj  bz kˆ 
î î

+ve -ve
ˆj k̂ ˆj
k̂
 
ax ˆi  by ˆj  axby ˆi  ˆj  axby kˆ

a  b   a y bz  by az  ˆi   az bx  bz ax  ˆj   axby  a y bx  kˆ