KINEMATIKA

ROTASI
Dr. SRI HANDANI
 Agenda Perkuliahan Hari Ini
 Materi setelah UTS
 Gambaran umum perkuliahan
 Aturan tugas/PR/kuis
 Kinematika Rotasi
 Materi Setelah UTS

Rotasi Benda Tegar

Dinamika Gerak Rotasi
Elastisitas
Gerak Periodik
Mekanika Fluida
 Gambaran Umum Perkuliahan
 TIN61102 Fisika Dasar I Kelas B
 Bobot SKS : Kuliah 3 SKS, Praktek 1 SKS
 Praktek gagal, kuliah gagal
 Jadwal Praktek : Selasa 11.10-14.10 WIB
 Jadwal Kuliah :
Selasa : 09.20-11.00 (1x dalam 2
pekan) (G2.5)
Kamis : 09.20-11.00 (G1.5)
 Kehadiran : minimal 75%
 Aturan Tugas/PR/Kuis
 Dikerjakan secara berkelompok
(1 kelompok = 5 orang)
 Menggunakan kertas double folio
 Tulisan tangan yang rapi dan dapat
dibaca
 Dikumpul sesuai jadwal
 Kuis 1-2 kali
 Rotation
 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.
 Rotations
 Bonnie sits on the outer rim of a merry-go-round, and Klyde sits midway between the center and the rim. The merry-go-round makes one complete revolution every two seconds.
 Klyde’s angular velocity is:

(a) the same as Bonnie’s

(b) twice Bonnie’s
(c) half Bonnie’s
 Rotations
 The angular velocity  of any point on a solid object rotating about a fixed axis is the same.
 Both Bonnie & Klyde go around once (2 radians) every two seconds.

(Their “linear” speed v will be different since v = r).


1
VKlyde  VBonnie
2
 Rotational Variables.

 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
dx
v
(Analogous to dt )
 Rotational Variables...
 Now suppose  can change as a function of time:
 We define the
angular acceleration:

d d 2
  2
dt dt 
 Consider the case when  
is constant.
 We can integrate this to

find  and  as a function of time:

 constant

   0  t
1
   0   0 t  t 2
2
 Rotational Variables...

 constant
 v
  0  t
x
1 R 
   0   0 t  t 2
2 
 Recall also that for a point at a distance R away from the axis of rotation:
 x = R
 v = R
And taking the derivative of this we find:
 a = R


 Summary
(with comparison to 1-D kinematics)
Angular Linear

  constant a  constant

   0  t v  v 0  at

1 1 2
  0   0 t  t 2 x  x 0  v 0t  at
2 2

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

x = Rv = Ra = R
 Example: Wheel And Rope
 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 = 2 radians)

R
 Wheel And Rope...
 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  0 t  =t 20 + 0(10) + (10)(10)2 = 500 rad
2 2
1 rot
 500 rad x a
2 rad
 80 rev

 R
 Rotation & Kinetic Energy

 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

r4  r1 m1

m3
r3 r2
m2
 Rotation & Kinetic Energy...
1 2
 So:  2vm
K but = v
r
i i i i
i
1 2 1 2
 m i ri     m i ri
2
K
2 i 2 i

which we write as: v1

m4
1
K  I 2 v4 m1
2 r4  r1
v2
m3
I   mi ri 2 r3 r2
i
m2
Define the moment of inertia v3
about the rotation axis I has units of kg m2.
 Rotation & Kinetic Energy...

 The kinetic energy of a rotating system looks similar to that of a point particle:

Point Particle Rotating System

1
K  mv 2 K
1
I 2
2 2
v is “linear” velocity  is angular velocity
m is the mass. I is the moment of inertia
about the rotation axis.

I   m i ri 2
i
 Moment of Inertia
1
where I   mi ri
2
 So K  I 2
2 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!
 Calculating Moment of Inertia

 We have shown that for N discrete point masses

distributed about a fixed axis, the moment of inertia is:
N
where r is the distance from the mass
I  mi ri 2
i 1 to the axis of rotation.

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:

m m

m m
 Calculating Moment of Inertia...

 The squared distance from each point mass to the axis is:
2
2 L L2
r  2   Using the Pythagorean Theorem
2
  2

so
N
2 L2 L2 L2 L2 L2
I   m i ri  m  m  m  m  4 m
i 1 2 2 2 2 2

I = 2mL2 L/2

m m
r
L

m m
 Calculating Moment of Inertia...

 Now calculate I for the same object about an axis through

the center, parallel to the plane (as shown):

N 2 L2 L2 L2 L2 L2
I   mi ri  m  m  m  m  4 m
i 1 4 4 4 4 4
r
m m
I = mL2
L

m m
 Calculating Moment of Inertia...

 Finally, calculate I for the same object about an axis along

one side (as shown):

N 2
I   mi ri  mL2  mL2  m0 2  m0 2
i 1

r
m m
I = 2mL2
L

m m
 Calculating Moment of Inertia...

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

I = 2mL2 I = mL2 I = 2mL2

m m

m m
 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
(a) I a > Ib > Ic
(b) I a > Ic > Ib b

(c) I b > Ia > Ic c

 Moment of Inertia
 Label masses and lengths:
 Calculate moments of inerta:
2 2
I a  m 2 L   m 2 L   8 mL2

I b  mL2  mL2  mL2  3 mL2

2
I c  m 2 L   4 mL2 m
a
L
b
So (b) is correct: Ia > Ic > Ib L
c
m m
 Calculating Moment of Inertia...

 For a discrete collection of point

masses we found:
N
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 r
 Moments of Inertia

 Some examples of I for solid objects:

I  MR 2 Thin hoop (or cylinder) of mass M and

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

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

1
I MR 2
2
Solid disk or cylinder of mass M and
R radius R, about a perpendicular axis
through its center.
 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

solid hollow

same mass & radius

 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

solid hollow

same mass & radius

 Moments of Inertia...

 Some examples of I for solid objects (see also Tipler, Table 9-1):
1
I ML2
12
Thin rod of mass M and length L, about
L
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.
L
 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.
 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.

IPARALLEL = ICM + MD2

D=L/2
CM M
x
L
IEND ICM
1
We know ICM  ML2
12

1  L2 1
So IEND  ML  M    ML2
2
12 2 3

which agrees with the result on a previous slide.

 Soal

1. Sebuah mesin pemusing dipercepat dari keadaan diam

sampai 15.000 rpm dan 220 s. Berapa putaran yang
dilakukannya selama waktu itu?
2. Berapa percepatan sebuah sebuah titik di tepi piringan
hitam yang berdiameter 12 inci?
3. Ban-ban mobil melakukan 65 putaran pada waktu mobil
mengurangi lajunya secara beraturan dari 100 km/jam
sampai 50 km/jam. (a) Berapa percepatan sudutnya? (b)
Jika mobil terus diperlambat sebesar ini, berapa waktu
yang diperlukan sampai berhenti?